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<div class="title">Camera Calibration and 3D Reconstruction</div>  </div>
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Modules</h2></td></tr>
<tr class="memitem:db/d58/group__calib3d__fisheye"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../db/d58/group__calib3d__fisheye.html">Fisheye camera model</a></td></tr>
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<tr class="memitem:d5/db8/group__calib3d__c"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d5/db8/group__calib3d__c.html">C API</a></td></tr>
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Classes</h2></td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dd1/structcv_1_1CirclesGridFinderParameters.html">cv::CirclesGridFinderParameters</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d6d/classcv_1_1LMSolver.html">cv::LMSolver</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/dba/classcv_1_1StereoBM.html">cv::StereoBM</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Class for computing stereo correspondence using the block matching algorithm, introduced and contributed to OpenCV by K. Konolige.  <a href="../../d9/dba/classcv_1_1StereoBM.html#details">More...</a><br/></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d6e/classcv_1_1StereoMatcher.html">cv::StereoMatcher</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">The base class for stereo correspondence algorithms.  <a href="../../d2/d6e/classcv_1_1StereoMatcher.html#details">More...</a><br/></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d85/classcv_1_1StereoSGBM.html">cv::StereoSGBM</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">The class implements the modified H. Hirschmuller algorithm <a class="el" href="../../d0/de3/citelist.html#CITEREF_HH08">[112]</a> that differs from the original one as follows:  <a href="../../d2/d85/classcv_1_1StereoSGBM.html#details">More...</a><br/></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">cv::UsacParams</a></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr class="memitem:ga3f5d9f231e61d6e3190042fbe510c06c"><td align="right" class="memItemLeft" valign="top">typedef <a class="el" href="../../d2/dd1/structcv_1_1CirclesGridFinderParameters.html">CirclesGridFinderParameters</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga3f5d9f231e61d6e3190042fbe510c06c">cv::CirclesGridFinderParameters2</a></td></tr>
<tr class="separator:ga3f5d9f231e61d6e3190042fbe510c06c"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr class="memitem:ga58a3bc75c7337534ea9c1697b928cae0"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0ae59a3f6677ddd05b96a298a6c24fcbe6">cv::LMEDS</a> = 4, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">cv::RANSAC</a> = 8, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a6bba1f5405e6fcc199a6265d9b146359">cv::RHO</a> = 16, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a4b3528b241cd6518433d26f2979056f7">cv::USAC_DEFAULT</a> = 32, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0aaf2daaaed58488aa46d1845651764d1c">cv::USAC_PARALLEL</a> = 33, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a0a768abd16b0623f5ad4c25f743c922b">cv::USAC_FM_8PTS</a> = 34, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0acc5b5497953f4bd79abc96536b6f9ebf">cv::USAC_FAST</a> = 35, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a7baee4b7674e46bce6abb736f080ddc4">cv::USAC_ACCURATE</a> = 36, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a2464c9f3555b21619482a97a1c698ac6">cv::USAC_PROSAC</a> = 37, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a2823d1cb0b7bc095d0e50896ee736d22">cv::USAC_MAGSAC</a> = 38
<br/>
 }<tr class="memdesc:ga58a3bc75c7337534ea9c1697b928cae0"><td class="mdescLeft"> </td><td class="mdescRight">type of the robust estimation algorithm  <a href="../../d9/d0c/group__calib3d.html#ga58a3bc75c7337534ea9c1697b928cae0">More...</a><br/></td></tr>
</td></tr>
<tr class="separator:ga58a3bc75c7337534ea9c1697b928cae0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga9007b81edae8e7ead89219b316c109fb"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba9e296b20df217b62e581c56ad9359db5">cv::CALIB_CB_ADAPTIVE_THRESH</a> = 1, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fbaf54c37b53d4375f95e9b1a3d9846c97a">cv::CALIB_CB_NORMALIZE_IMAGE</a> = 2, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fbaa3481a374c81f6996c3c897fcf5b9b39">cv::CALIB_CB_FILTER_QUADS</a> = 4, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba5b5ef5178c5c5d50cc15719aecc5fd25">cv::CALIB_CB_FAST_CHECK</a> = 8, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fbabe82895b599d0a1c1cb1ef96c222682d">cv::CALIB_CB_EXHAUSTIVE</a> = 16, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba2782e0f6a4a5d4f69054c16870c767e7">cv::CALIB_CB_ACCURACY</a> = 32, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba8dc6198c5d486c78911a60cba58d0835">cv::CALIB_CB_LARGER</a> = 64, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba9a4682e44762f5fc90b34f6ec95cce0e">cv::CALIB_CB_MARKER</a> = 128
<br/>
 }</td></tr>
<tr class="separator:ga9007b81edae8e7ead89219b316c109fb"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gae515fd11d4c0e5b4162440eaf2094e02"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggae515fd11d4c0e5b4162440eaf2094e02a0f3929cc92e83ddce51ed008668db33a">cv::CALIB_CB_SYMMETRIC_GRID</a> = 1, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggae515fd11d4c0e5b4162440eaf2094e02a2ef9eceaffccf6a70aea8cd9006bd235">cv::CALIB_CB_ASYMMETRIC_GRID</a> = 2, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggae515fd11d4c0e5b4162440eaf2094e02ad85eb1e4aff97e844098e03e39efd744">cv::CALIB_CB_CLUSTERING</a> = 4
<br/>
 }</td></tr>
<tr class="separator:gae515fd11d4c0e5b4162440eaf2094e02"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga11738a219783c6dc7fdeb093a4a87c0f"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa830a38990b000cb578db06d842728649">cv::CALIB_NINTRINSIC</a> = 18, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">cv::CALIB_USE_INTRINSIC_GUESS</a> = 0x00001, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa131c3576ad5c96991adea3a133b6ce65">cv::CALIB_FIX_ASPECT_RATIO</a> = 0x00002, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa564091bdcc5ab14785f185e16430ff62">cv::CALIB_FIX_PRINCIPAL_POINT</a> = 0x00004, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa769b5792d4e9c4ae073eaf317aec73ef">cv::CALIB_ZERO_TANGENT_DIST</a> = 0x00008, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa72b96c0777e60eda049e938b90c03e89">cv::CALIB_FIX_FOCAL_LENGTH</a> = 0x00010, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fab4ac5ea2d2f2636ca8a384a5b717dd35">cv::CALIB_FIX_K1</a> = 0x00020, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa78351bf220ecb6e910e446e6cac3c1d6">cv::CALIB_FIX_K2</a> = 0x00040, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa5b447f4987f8a689cf7c618965a7a5a4">cv::CALIB_FIX_K3</a> = 0x00080, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0faeb20ea94650da0e7d429be719edf19b1">cv::CALIB_FIX_K4</a> = 0x00800, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa5e080a1f6b8e545196c2c2e874dce6ac">cv::CALIB_FIX_K5</a> = 0x01000, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa7d57502505ca433b25116aebadf33088">cv::CALIB_FIX_K6</a> = 0x02000, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa204766e24f2e413e7a7c9f8b9e93f16c">cv::CALIB_RATIONAL_MODEL</a> = 0x04000, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0faa4ae44ce7bb854eabac902587af4dbe7">cv::CALIB_THIN_PRISM_MODEL</a> = 0x08000, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fac148a479e5098f8ebfa49343a247280a">cv::CALIB_FIX_S1_S2_S3_S4</a> = 0x10000, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fac87f64a9ebe7c605bc8e4dd6e355528d">cv::CALIB_TILTED_MODEL</a> = 0x40000, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa2c39f08cc098e2a79b13dfbad4e59317">cv::CALIB_FIX_TAUX_TAUY</a> = 0x80000, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6ee40ef8d871782b8d966eaf9ad29763">cv::CALIB_USE_QR</a> = 0x100000, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa69529599f6c9d237a38dcf9872887b05">cv::CALIB_FIX_TANGENT_DIST</a> = 0x200000, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa51df9c05343c61ddb18324ded0fab86a">cv::CALIB_FIX_INTRINSIC</a> = 0x00100, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa53709cea2e0d6129e99606fe3d27385e">cv::CALIB_SAME_FOCAL_LENGTH</a> = 0x00200, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fae49985db1f4453c5dda1d701a3d8dd76">cv::CALIB_ZERO_DISPARITY</a> = 0x00400, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa5c59485f1b5391cb3d7b2bfb1b7079a7">cv::CALIB_USE_LU</a> = (1 &lt;&lt; 17), 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa9244b2193c7621bb8ceb402384534848">cv::CALIB_USE_EXTRINSIC_GUESS</a> = (1 &lt;&lt; 22)
<br/>
 }</td></tr>
<tr class="separator:ga11738a219783c6dc7fdeb093a4a87c0f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga04495204613753c836e07d31c575bf3b"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3ba8ccd232f3e7691efae984c76bb99e047">cv::FM_7POINT</a> = 1, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3ba3960f8c87052a64c3297704db34aaedf">cv::FM_8POINT</a> = 2, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3ba8a81ff35b40a5de086bc91dbc1ef8bba">cv::FM_LMEDS</a> = 4, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3baeb30cc6b8fc94600bc04f16c14644fdd">cv::FM_RANSAC</a> = 8
<br/>
 }<tr class="memdesc:ga04495204613753c836e07d31c575bf3b"><td class="mdescLeft"> </td><td class="mdescRight">the algorithm for finding fundamental matrix  <a href="../../d9/d0c/group__calib3d.html#ga04495204613753c836e07d31c575bf3b">More...</a><br/></td></tr>
</td></tr>
<tr class="separator:ga04495204613753c836e07d31c575bf3b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gad10a5ef12ee3499a0774c7904a801b99"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gad10a5ef12ee3499a0774c7904a801b99">cv::HandEyeCalibrationMethod</a> { <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggad10a5ef12ee3499a0774c7904a801b99a249a50f4859fadba741271defd3db30b">cv::CALIB_HAND_EYE_TSAI</a> = 0, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggad10a5ef12ee3499a0774c7904a801b99aa3b05d3f9ee106ee5f288556baf15155">cv::CALIB_HAND_EYE_PARK</a> = 1, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggad10a5ef12ee3499a0774c7904a801b99aa4b1d0a3d4fc3abffdfb2231dd4a8dec">cv::CALIB_HAND_EYE_HORAUD</a> = 2, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggad10a5ef12ee3499a0774c7904a801b99a285505dc178d562cba88cc6abe06dbaf">cv::CALIB_HAND_EYE_ANDREFF</a> = 3, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggad10a5ef12ee3499a0774c7904a801b99ab7982ff0774f1aa2218401a0b5e1af48">cv::CALIB_HAND_EYE_DANIILIDIS</a> = 4
<br/>
 }</td></tr>
<tr class="separator:gad10a5ef12ee3499a0774c7904a801b99"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga4a3d4c8cd630a8724f17016149dc9efa"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga4a3d4c8cd630a8724f17016149dc9efa">cv::LocalOptimMethod</a> { <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga4a3d4c8cd630a8724f17016149dc9efaa8f621668306b232478a906bf7f459c33">cv::LOCAL_OPTIM_NULL</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga4a3d4c8cd630a8724f17016149dc9efaa5ddc1004cfb23d8912998d28c264d045">cv::LOCAL_OPTIM_INNER_LO</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga4a3d4c8cd630a8724f17016149dc9efaad827aba5fc3b23247b90012bdf2d8080">cv::LOCAL_OPTIM_INNER_AND_ITER_LO</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga4a3d4c8cd630a8724f17016149dc9efaad380df65015f597fed394a39b23b3976">cv::LOCAL_OPTIM_GC</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga4a3d4c8cd630a8724f17016149dc9efaaa98f00a584cd5e4d5f4a41f0625fa388">cv::LOCAL_OPTIM_SIGMA</a>
<br/>
 }</td></tr>
<tr class="separator:ga4a3d4c8cd630a8724f17016149dc9efa"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gad2338dbfeed74a31ec7379674ad7a903"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gad2338dbfeed74a31ec7379674ad7a903">cv::NeighborSearchMethod</a> { <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggad2338dbfeed74a31ec7379674ad7a903a73d0b8467e2ab18cd341030ff1bcdcfd">cv::NEIGH_FLANN_KNN</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggad2338dbfeed74a31ec7379674ad7a903a71888727386563510c69eb25cce4dfe5">cv::NEIGH_GRID</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggad2338dbfeed74a31ec7379674ad7a903a53ed629c1c3ca0b8844da3cfb59e1959">cv::NEIGH_FLANN_RADIUS</a>
<br/>
 }</td></tr>
<tr class="separator:gad2338dbfeed74a31ec7379674ad7a903"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga7874b7e33b597c56994974a7ee532285"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga7874b7e33b597c56994974a7ee532285">cv::RobotWorldHandEyeCalibrationMethod</a> { <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga7874b7e33b597c56994974a7ee532285ae0401fdd318485c1789ac4a397e80692">cv::CALIB_ROBOT_WORLD_HAND_EYE_SHAH</a> = 0, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga7874b7e33b597c56994974a7ee532285af07679eed156aa57dfa56a07e19dbc75">cv::CALIB_ROBOT_WORLD_HAND_EYE_LI</a> = 1
<br/>
 }</td></tr>
<tr class="separator:ga7874b7e33b597c56994974a7ee532285"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga54c4be8bef336577b88fcced735cf9ea"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga54c4be8bef336577b88fcced735cf9ea">cv::SamplingMethod</a> { <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga54c4be8bef336577b88fcced735cf9eaa8b96a9e35e90ccf3a973c52b9841aadf">cv::SAMPLING_UNIFORM</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga54c4be8bef336577b88fcced735cf9eaad0659c39537a118e9e7c7aeacbdbb2a8">cv::SAMPLING_PROGRESSIVE_NAPSAC</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga54c4be8bef336577b88fcced735cf9eaa8b4e1911af9298307ae90755b938888b">cv::SAMPLING_NAPSAC</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga54c4be8bef336577b88fcced735cf9eaa4d620abc916e8a1fdff85542d7990b13">cv::SAMPLING_PROSAC</a>
<br/>
 }</td></tr>
<tr class="separator:ga54c4be8bef336577b88fcced735cf9ea"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga38100242449fe48bf9b7c107630020d6"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga38100242449fe48bf9b7c107630020d6">cv::ScoreMethod</a> { <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga38100242449fe48bf9b7c107630020d6a0a1e0f3cf62046824d0923c99082bd68">cv::SCORE_METHOD_RANSAC</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga38100242449fe48bf9b7c107630020d6aacda8ba3b3c897547465cfe5f9d5d198">cv::SCORE_METHOD_MSAC</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga38100242449fe48bf9b7c107630020d6a5989d612d42518aeb83e7918c2687dc2">cv::SCORE_METHOD_MAGSAC</a>, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga38100242449fe48bf9b7c107630020d6a549275f88e850bf4a276b5631023c80c">cv::SCORE_METHOD_LMEDS</a>
<br/>
 }</td></tr>
<tr class="separator:ga38100242449fe48bf9b7c107630020d6"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga357634492a94efe8858d0ce1509da869"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga357634492a94efe8858d0ce1509da869">cv::SolvePnPMethod</a> { <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">cv::SOLVEPNP_ITERATIVE</a> = 0, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ae25763f5155defc67ef0f68b74d6c074">cv::SOLVEPNP_EPNP</a> = 1, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a">cv::SOLVEPNP_P3P</a> = 2, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869aa51f13248282b8778003b9a4cf8ac07e">cv::SOLVEPNP_DLS</a> = 3, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a2859c9ce1430662096d3cc3b5462847f">cv::SOLVEPNP_UPNP</a> = 4, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9">cv::SOLVEPNP_AP3P</a> = 5, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869acbd7d9f9513a22a59412661a9d31ca3d">cv::SOLVEPNP_IPPE</a> = 6, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ac5d28b2805d3ac32fd477eee4479406f">cv::SOLVEPNP_IPPE_SQUARE</a> = 7, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9229a3332f6c4969251c31d2931b0729">cv::SOLVEPNP_SQPNP</a> = 8
<br/>
 }</td></tr>
<tr class="separator:ga357634492a94efe8858d0ce1509da869"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gace497823594b601f2094d32dde6a3c94"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gace497823594b601f2094d32dde6a3c94">cv::UndistortTypes</a> { <br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggace497823594b601f2094d32dde6a3c94aad55e201c84b7c538455a69153d5e676">cv::PROJ_SPHERICAL_ORTHO</a> = 0, 
<br/>
  <a class="el" href="../../d9/d0c/group__calib3d.html#ggace497823594b601f2094d32dde6a3c94a62d8708c29117854d6903d8e1155d8c0">cv::PROJ_SPHERICAL_EQRECT</a> = 1
<br/>
 }<tr class="memdesc:gace497823594b601f2094d32dde6a3c94"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="d9/d0c/group__calib3d.html#ga69f2545a8b62a6b0fc2ee060dc30559d" title="Transforms an image to compensate for lens distortion. ">cv::undistort</a> mode  <a href="../../d9/d0c/group__calib3d.html#gace497823594b601f2094d32dde6a3c94">More...</a><br/></td></tr>
</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ga3207604e4b1a1758aa66acb6ed5aa65d"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">cv::calibrateCamera</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> rvecs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> tvecs, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> stdDeviationsIntrinsics, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> stdDeviationsExtrinsics, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> perViewErrors, int flags=0, <a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> criteria=<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, DBL_EPSILON))</td></tr>
<tr class="memdesc:ga3207604e4b1a1758aa66acb6ed5aa65d"><td class="mdescLeft"> </td><td class="mdescRight">Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.  <a href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">More...</a><br/></td></tr>
<tr class="separator:ga3207604e4b1a1758aa66acb6ed5aa65d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga687a1ab946686f0d85ae0363b5af1d7b"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga687a1ab946686f0d85ae0363b5af1d7b">cv::calibrateCamera</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> rvecs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> tvecs, int flags=0, <a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> criteria=<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, DBL_EPSILON))</td></tr>
<tr class="separator:ga687a1ab946686f0d85ae0363b5af1d7b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga11eeb16e5a458e1ed382fb27f585b753"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga11eeb16e5a458e1ed382fb27f585b753">cv::calibrateCameraRO</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, int iFixedPoint, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> rvecs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> tvecs, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> newObjPoints, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> stdDeviationsIntrinsics, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> stdDeviationsExtrinsics, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> stdDeviationsObjPoints, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> perViewErrors, int flags=0, <a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> criteria=<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, DBL_EPSILON))</td></tr>
<tr class="memdesc:ga11eeb16e5a458e1ed382fb27f585b753"><td class="mdescLeft"> </td><td class="mdescRight">Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.  <a href="../../d9/d0c/group__calib3d.html#ga11eeb16e5a458e1ed382fb27f585b753">More...</a><br/></td></tr>
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<tr class="memitem:gacb6b35670216b24b67c70fcd21519ead"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gacb6b35670216b24b67c70fcd21519ead">cv::calibrateCameraRO</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, int iFixedPoint, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> rvecs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> tvecs, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> newObjPoints, int flags=0, <a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> criteria=<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, DBL_EPSILON))</td></tr>
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<tr class="memitem:gaebfc1c9f7434196a374c382abf43439b"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gaebfc1c9f7434196a374c382abf43439b">cv::calibrateHandEye</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> R_gripper2base, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> t_gripper2base, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> R_target2cam, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> t_target2cam, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R_cam2gripper, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> t_cam2gripper, <a class="el" href="../../d9/d0c/group__calib3d.html#gad10a5ef12ee3499a0774c7904a801b99">HandEyeCalibrationMethod</a> method=<a class="el" href="../../d9/d0c/group__calib3d.html#ggad10a5ef12ee3499a0774c7904a801b99a249a50f4859fadba741271defd3db30b">CALIB_HAND_EYE_TSAI</a>)</td></tr>
<tr class="memdesc:gaebfc1c9f7434196a374c382abf43439b"><td class="mdescLeft"> </td><td class="mdescRight">Computes Hand-Eye calibration: \(_{}^{g}\textrm{T}_c\).  <a href="../../d9/d0c/group__calib3d.html#gaebfc1c9f7434196a374c382abf43439b">More...</a><br/></td></tr>
<tr class="separator:gaebfc1c9f7434196a374c382abf43439b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga41b1a8dd70eae371eba707d101729c36"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga41b1a8dd70eae371eba707d101729c36">cv::calibrateRobotWorldHandEye</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> R_world2cam, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> t_world2cam, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> R_base2gripper, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> t_base2gripper, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R_base2world, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> t_base2world, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R_gripper2cam, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> t_gripper2cam, <a class="el" href="../../d9/d0c/group__calib3d.html#ga7874b7e33b597c56994974a7ee532285">RobotWorldHandEyeCalibrationMethod</a> method=<a class="el" href="../../d9/d0c/group__calib3d.html#gga7874b7e33b597c56994974a7ee532285ae0401fdd318485c1789ac4a397e80692">CALIB_ROBOT_WORLD_HAND_EYE_SHAH</a>)</td></tr>
<tr class="memdesc:ga41b1a8dd70eae371eba707d101729c36"><td class="mdescLeft"> </td><td class="mdescRight">Computes Robot-World/Hand-Eye calibration: \(_{}^{w}\textrm{T}_b\) and \(_{}^{c}\textrm{T}_g\).  <a href="../../d9/d0c/group__calib3d.html#ga41b1a8dd70eae371eba707d101729c36">More...</a><br/></td></tr>
<tr class="separator:ga41b1a8dd70eae371eba707d101729c36"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga87955f4330d5c20e392b265b7f92f691"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga87955f4330d5c20e392b265b7f92f691">cv::calibrationMatrixValues</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, double apertureWidth, double apertureHeight, double &amp;fovx, double &amp;fovy, double &amp;focalLength, <a class="el" href="../../dc/d84/group__core__basic.html#ga32986d8c6fd05949688352abd112509f">Point2d</a> &amp;principalPoint, double &amp;aspectRatio)</td></tr>
<tr class="memdesc:ga87955f4330d5c20e392b265b7f92f691"><td class="mdescLeft"> </td><td class="mdescRight">Computes useful camera characteristics from the camera intrinsic matrix.  <a href="../../d9/d0c/group__calib3d.html#ga87955f4330d5c20e392b265b7f92f691">More...</a><br/></td></tr>
<tr class="separator:ga87955f4330d5c20e392b265b7f92f691"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gacd8162cfd39138d0bc29e4b53d080673"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gacd8162cfd39138d0bc29e4b53d080673">cv::checkChessboard</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> img, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> size)</td></tr>
<tr class="separator:gacd8162cfd39138d0bc29e4b53d080673"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga044b03d81f99370db05c52c3d0b46599"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga044b03d81f99370db05c52c3d0b46599">cv::composeRT</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> rvec1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> tvec1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> rvec2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> tvec2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> rvec3, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> tvec3, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dr3dr1=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dr3dt1=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dr3dr2=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dr3dt2=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dt3dr1=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dt3dt1=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dt3dr2=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dt3dt2=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:ga044b03d81f99370db05c52c3d0b46599"><td class="mdescLeft"> </td><td class="mdescRight">Combines two rotation-and-shift transformations.  <a href="../../d9/d0c/group__calib3d.html#ga044b03d81f99370db05c52c3d0b46599">More...</a><br/></td></tr>
<tr class="separator:ga044b03d81f99370db05c52c3d0b46599"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga19e3401c94c44b47c229be6e51d158b7"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga19e3401c94c44b47c229be6e51d158b7">cv::computeCorrespondEpilines</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points, int whichImage, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> F, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> lines)</td></tr>
<tr class="memdesc:ga19e3401c94c44b47c229be6e51d158b7"><td class="mdescLeft"> </td><td class="mdescRight">For points in an image of a stereo pair, computes the corresponding epilines in the other image.  <a href="../../d9/d0c/group__calib3d.html#ga19e3401c94c44b47c229be6e51d158b7">More...</a><br/></td></tr>
<tr class="separator:ga19e3401c94c44b47c229be6e51d158b7"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gac42edda3a3a0f717979589fcd6ac0035"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gac42edda3a3a0f717979589fcd6ac0035">cv::convertPointsFromHomogeneous</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dst)</td></tr>
<tr class="memdesc:gac42edda3a3a0f717979589fcd6ac0035"><td class="mdescLeft"> </td><td class="mdescRight">Converts points from homogeneous to Euclidean space.  <a href="../../d9/d0c/group__calib3d.html#gac42edda3a3a0f717979589fcd6ac0035">More...</a><br/></td></tr>
<tr class="separator:gac42edda3a3a0f717979589fcd6ac0035"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gafa5aa3f40a472bda956b4c27bec67438"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gafa5aa3f40a472bda956b4c27bec67438">cv::convertPointsHomogeneous</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dst)</td></tr>
<tr class="memdesc:gafa5aa3f40a472bda956b4c27bec67438"><td class="mdescLeft"> </td><td class="mdescRight">Converts points to/from homogeneous coordinates.  <a href="../../d9/d0c/group__calib3d.html#gafa5aa3f40a472bda956b4c27bec67438">More...</a><br/></td></tr>
<tr class="separator:gafa5aa3f40a472bda956b4c27bec67438"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga13159f129eec8a7d9bd8501f012d5543"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga13159f129eec8a7d9bd8501f012d5543">cv::convertPointsToHomogeneous</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dst)</td></tr>
<tr class="memdesc:ga13159f129eec8a7d9bd8501f012d5543"><td class="mdescLeft"> </td><td class="mdescRight">Converts points from Euclidean to homogeneous space.  <a href="../../d9/d0c/group__calib3d.html#ga13159f129eec8a7d9bd8501f012d5543">More...</a><br/></td></tr>
<tr class="separator:ga13159f129eec8a7d9bd8501f012d5543"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaf32c99d17908e175ac71e7a08fad587b"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gaf32c99d17908e175ac71e7a08fad587b">cv::correctMatches</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> F, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> newPoints1, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> newPoints2)</td></tr>
<tr class="memdesc:gaf32c99d17908e175ac71e7a08fad587b"><td class="mdescLeft"> </td><td class="mdescRight">Refines coordinates of corresponding points.  <a href="../../d9/d0c/group__calib3d.html#gaf32c99d17908e175ac71e7a08fad587b">More...</a><br/></td></tr>
<tr class="separator:gaf32c99d17908e175ac71e7a08fad587b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga54a2f5b3f8aeaf6c76d4a31dece85d5d"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga54a2f5b3f8aeaf6c76d4a31dece85d5d">cv::decomposeEssentialMat</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> E, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R1, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> t)</td></tr>
<tr class="memdesc:ga54a2f5b3f8aeaf6c76d4a31dece85d5d"><td class="mdescLeft"> </td><td class="mdescRight">Decompose an essential matrix to possible rotations and translation.  <a href="../../d9/d0c/group__calib3d.html#ga54a2f5b3f8aeaf6c76d4a31dece85d5d">More...</a><br/></td></tr>
<tr class="separator:ga54a2f5b3f8aeaf6c76d4a31dece85d5d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga7f60bdff78833d1e3fd6d9d0fd538d92"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga7f60bdff78833d1e3fd6d9d0fd538d92">cv::decomposeHomographyMat</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> H, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> K, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> rotations, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> translations, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> normals)</td></tr>
<tr class="memdesc:ga7f60bdff78833d1e3fd6d9d0fd538d92"><td class="mdescLeft"> </td><td class="mdescRight">Decompose a homography matrix to rotation(s), translation(s) and plane normal(s).  <a href="../../d9/d0c/group__calib3d.html#ga7f60bdff78833d1e3fd6d9d0fd538d92">More...</a><br/></td></tr>
<tr class="separator:ga7f60bdff78833d1e3fd6d9d0fd538d92"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaaae5a7899faa1ffdf268cd9088940248"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gaaae5a7899faa1ffdf268cd9088940248">cv::decomposeProjectionMatrix</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> projMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> rotMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> transVect, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> rotMatrixX=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> rotMatrixY=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> rotMatrixZ=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> eulerAngles=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:gaaae5a7899faa1ffdf268cd9088940248"><td class="mdescLeft"> </td><td class="mdescRight">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.  <a href="../../d9/d0c/group__calib3d.html#gaaae5a7899faa1ffdf268cd9088940248">More...</a><br/></td></tr>
<tr class="separator:gaaae5a7899faa1ffdf268cd9088940248"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga6a10b0bb120c4907e5eabbcd22319022"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga6a10b0bb120c4907e5eabbcd22319022">cv::drawChessboardCorners</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> image, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> patternSize, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> corners, bool patternWasFound)</td></tr>
<tr class="memdesc:ga6a10b0bb120c4907e5eabbcd22319022"><td class="mdescLeft"> </td><td class="mdescRight">Renders the detected chessboard corners.  <a href="../../d9/d0c/group__calib3d.html#ga6a10b0bb120c4907e5eabbcd22319022">More...</a><br/></td></tr>
<tr class="separator:ga6a10b0bb120c4907e5eabbcd22319022"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gab3ab7bb2bdfe7d5d9745bb92d13f9564"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gab3ab7bb2bdfe7d5d9745bb92d13f9564">cv::drawFrameAxes</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> image, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> rvec, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> tvec, float length, int thickness=3)</td></tr>
<tr class="memdesc:gab3ab7bb2bdfe7d5d9745bb92d13f9564"><td class="mdescLeft"> </td><td class="mdescRight">Draw axes of the world/object coordinate system from pose estimation.  <a href="../../d9/d0c/group__calib3d.html#gab3ab7bb2bdfe7d5d9745bb92d13f9564">More...</a><br/></td></tr>
<tr class="separator:gab3ab7bb2bdfe7d5d9745bb92d13f9564"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga27865b1d26bac9ce91efaee83e94d4dd"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga27865b1d26bac9ce91efaee83e94d4dd">cv::estimateAffine2D</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> from, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> to, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> inliers=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), int method=<a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a>, double ransacReprojThreshold=3, size_t maxIters=2000, double confidence=0.99, size_t refineIters=10)</td></tr>
<tr class="memdesc:ga27865b1d26bac9ce91efaee83e94d4dd"><td class="mdescLeft"> </td><td class="mdescRight">Computes an optimal affine transformation between two 2D point sets.  <a href="../../d9/d0c/group__calib3d.html#ga27865b1d26bac9ce91efaee83e94d4dd">More...</a><br/></td></tr>
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<tr class="memitem:ga826a81ddb74d54af435273c668fa9192"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga826a81ddb74d54af435273c668fa9192">cv::estimateAffine2D</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> pts1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> pts2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> inliers, const <a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a> &amp;params)</td></tr>
<tr class="separator:ga826a81ddb74d54af435273c668fa9192"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga396afb6411b30770e56ab69548724715"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga396afb6411b30770e56ab69548724715">cv::estimateAffine3D</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> dst, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> out, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> inliers, double ransacThreshold=3, double confidence=0.99)</td></tr>
<tr class="memdesc:ga396afb6411b30770e56ab69548724715"><td class="mdescLeft"> </td><td class="mdescRight">Computes an optimal affine transformation between two 3D point sets.  <a href="../../d9/d0c/group__calib3d.html#ga396afb6411b30770e56ab69548724715">More...</a><br/></td></tr>
<tr class="separator:ga396afb6411b30770e56ab69548724715"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gad767faff73e9cbd8b9d92b955b50062d"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gad767faff73e9cbd8b9d92b955b50062d">cv::estimateAffinePartial2D</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> from, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> to, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> inliers=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), int method=<a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a>, double ransacReprojThreshold=3, size_t maxIters=2000, double confidence=0.99, size_t refineIters=10)</td></tr>
<tr class="memdesc:gad767faff73e9cbd8b9d92b955b50062d"><td class="mdescLeft"> </td><td class="mdescRight">Computes an optimal limited affine transformation with 4 degrees of freedom between two 2D point sets.  <a href="../../d9/d0c/group__calib3d.html#gad767faff73e9cbd8b9d92b955b50062d">More...</a><br/></td></tr>
<tr class="separator:gad767faff73e9cbd8b9d92b955b50062d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga1b976b476cd2083edd4323a34e9e1ffa"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga599fe92e910c027be274233eccad7beb">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga1b976b476cd2083edd4323a34e9e1ffa">cv::estimateChessboardSharpness</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> image, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> patternSize, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> corners, float rise_distance=0.8F, bool vertical=false, OutputArray sharpness=noArray())</td></tr>
<tr class="memdesc:ga1b976b476cd2083edd4323a34e9e1ffa"><td class="mdescLeft"> </td><td class="mdescRight">Estimates the sharpness of a detected chessboard.  <a href="../../d9/d0c/group__calib3d.html#ga1b976b476cd2083edd4323a34e9e1ffa">More...</a><br/></td></tr>
<tr class="separator:ga1b976b476cd2083edd4323a34e9e1ffa"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga0ea15af08887dd5afa68d81711d395ff"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga0ea15af08887dd5afa68d81711d395ff">cv::estimateTranslation3D</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> dst, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> out, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> inliers, double ransacThreshold=3, double confidence=0.99)</td></tr>
<tr class="memdesc:ga0ea15af08887dd5afa68d81711d395ff"><td class="mdescLeft"> </td><td class="mdescRight">Computes an optimal translation between two 3D point sets.  <a href="../../d9/d0c/group__calib3d.html#ga0ea15af08887dd5afa68d81711d395ff">More...</a><br/></td></tr>
<tr class="separator:ga0ea15af08887dd5afa68d81711d395ff"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga32f867159200f7bd55e72dca92d8494c"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga32f867159200f7bd55e72dca92d8494c">cv::filterHomographyDecompByVisibleRefpoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> rotations, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> normals, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> beforePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> afterPoints, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> possibleSolutions, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> pointsMask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:ga32f867159200f7bd55e72dca92d8494c"><td class="mdescLeft"> </td><td class="mdescRight">Filters homography decompositions based on additional information.  <a href="../../d9/d0c/group__calib3d.html#ga32f867159200f7bd55e72dca92d8494c">More...</a><br/></td></tr>
<tr class="separator:ga32f867159200f7bd55e72dca92d8494c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gabe331f205a6dd7a9aa5db8a38157d25b"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gabe331f205a6dd7a9aa5db8a38157d25b">cv::filterSpeckles</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> img, double newVal, int maxSpeckleSize, double maxDiff, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> buf=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:gabe331f205a6dd7a9aa5db8a38157d25b"><td class="mdescLeft"> </td><td class="mdescRight">Filters off small noise blobs (speckles) in the disparity map.  <a href="../../d9/d0c/group__calib3d.html#gabe331f205a6dd7a9aa5db8a38157d25b">More...</a><br/></td></tr>
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<tr class="memitem:gab8816c8a176e1d78893b843b3f01557a"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gab8816c8a176e1d78893b843b3f01557a">cv::find4QuadCornerSubpix</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> img, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> corners, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> region_size)</td></tr>
<tr class="memdesc:gab8816c8a176e1d78893b843b3f01557a"><td class="mdescLeft"> </td><td class="mdescRight">finds subpixel-accurate positions of the chessboard corners  <a href="../../d9/d0c/group__calib3d.html#gab8816c8a176e1d78893b843b3f01557a">More...</a><br/></td></tr>
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<tr class="memitem:ga93efa9b0aa890de240ca32b11253dd4a"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a">cv::findChessboardCorners</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> image, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> patternSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> corners, int flags=<a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba9e296b20df217b62e581c56ad9359db5">CALIB_CB_ADAPTIVE_THRESH</a>+<a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fbaf54c37b53d4375f95e9b1a3d9846c97a">CALIB_CB_NORMALIZE_IMAGE</a>)</td></tr>
<tr class="memdesc:ga93efa9b0aa890de240ca32b11253dd4a"><td class="mdescLeft"> </td><td class="mdescRight">Finds the positions of internal corners of the chessboard.  <a href="../../d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a">More...</a><br/></td></tr>
<tr class="separator:ga93efa9b0aa890de240ca32b11253dd4a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gadc5bcb05cb21cf1e50963df26986d7c9"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gadc5bcb05cb21cf1e50963df26986d7c9">cv::findChessboardCornersSB</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> image, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> patternSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> corners, int flags, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> meta)</td></tr>
<tr class="memdesc:gadc5bcb05cb21cf1e50963df26986d7c9"><td class="mdescLeft"> </td><td class="mdescRight">Finds the positions of internal corners of the chessboard using a sector based approach.  <a href="../../d9/d0c/group__calib3d.html#gadc5bcb05cb21cf1e50963df26986d7c9">More...</a><br/></td></tr>
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<tr class="memitem:gad0e88e13cd3d410870a99927510d7f91"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gad0e88e13cd3d410870a99927510d7f91">cv::findChessboardCornersSB</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> image, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> patternSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> corners, int flags=0)</td></tr>
<tr class="separator:gad0e88e13cd3d410870a99927510d7f91"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga7f02cd21c8352142890190227628fa80"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga7f02cd21c8352142890190227628fa80">cv::findCirclesGrid</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> image, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> patternSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> centers, int flags, const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d9b/group__features2d.html#ga15e1361bda978d83a2bea629b32dfd3c">FeatureDetector</a> &gt; &amp;blobDetector, const <a class="el" href="../../d2/dd1/structcv_1_1CirclesGridFinderParameters.html">CirclesGridFinderParameters</a> &amp;parameters)</td></tr>
<tr class="memdesc:ga7f02cd21c8352142890190227628fa80"><td class="mdescLeft"> </td><td class="mdescRight">Finds centers in the grid of circles.  <a href="../../d9/d0c/group__calib3d.html#ga7f02cd21c8352142890190227628fa80">More...</a><br/></td></tr>
<tr class="separator:ga7f02cd21c8352142890190227628fa80"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gac8fb88c7652a7699743aeb6073ef9b4a"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gac8fb88c7652a7699743aeb6073ef9b4a">cv::findCirclesGrid</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> image, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> patternSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> centers, int flags=<a class="el" href="../../d9/d0c/group__calib3d.html#ggae515fd11d4c0e5b4162440eaf2094e02a0f3929cc92e83ddce51ed008668db33a">CALIB_CB_SYMMETRIC_GRID</a>, const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d9b/group__features2d.html#ga15e1361bda978d83a2bea629b32dfd3c">FeatureDetector</a> &gt; &amp;blobDetector=<a class="el" href="../../d0/d7a/classcv_1_1SimpleBlobDetector.html#a1d7a06c8b8749207a978e42cd8d0cdf6">SimpleBlobDetector::create</a>())</td></tr>
<tr class="separator:gac8fb88c7652a7699743aeb6073ef9b4a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga13f7e34de8fa516a686a56af1196247f"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga13f7e34de8fa516a686a56af1196247f">cv::findEssentialMat</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, int method=<a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a>, double prob=0.999, double <a class="el" href="../../d7/d1b/group__imgproc__misc.html#gae8a4a146d1ca78c626a53577199e9c57">threshold</a>=1.0, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:ga13f7e34de8fa516a686a56af1196247f"><td class="mdescLeft"> </td><td class="mdescRight">Calculates an essential matrix from the corresponding points in two images.  <a href="../../d9/d0c/group__calib3d.html#ga13f7e34de8fa516a686a56af1196247f">More...</a><br/></td></tr>
<tr class="separator:ga13f7e34de8fa516a686a56af1196247f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga0c86f6478f36d5be6e450751bbf4fec0"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga0c86f6478f36d5be6e450751bbf4fec0">cv::findEssentialMat</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, double focal=1.0, <a class="el" href="../../dc/d84/group__core__basic.html#ga32986d8c6fd05949688352abd112509f">Point2d</a> pp=<a class="el" href="../../dc/d84/group__core__basic.html#ga32986d8c6fd05949688352abd112509f">Point2d</a>(0, 0), int method=<a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a>, double prob=0.999, double <a class="el" href="../../d7/d1b/group__imgproc__misc.html#gae8a4a146d1ca78c626a53577199e9c57">threshold</a>=1.0, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="separator:ga0c86f6478f36d5be6e450751bbf4fec0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gafafd52c0372b12dd582597bfb1330430"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gafafd52c0372b12dd582597bfb1330430">cv::findEssentialMat</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs2, int method=<a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a>, double prob=0.999, double <a class="el" href="../../d7/d1b/group__imgproc__misc.html#gae8a4a146d1ca78c626a53577199e9c57">threshold</a>=1.0, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:gafafd52c0372b12dd582597bfb1330430"><td class="mdescLeft"> </td><td class="mdescRight">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.  <a href="../../d9/d0c/group__calib3d.html#gafafd52c0372b12dd582597bfb1330430">More...</a><br/></td></tr>
<tr class="separator:gafafd52c0372b12dd582597bfb1330430"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaaf096545b80869513828065ba38c1602"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gaaf096545b80869513828065ba38c1602">cv::findEssentialMat</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> dist_coeff1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> dist_coeff2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask, const <a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a> &amp;params)</td></tr>
<tr class="separator:gaaf096545b80869513828065ba38c1602"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga59b0d57f46f8677fb5904294a23d404a"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga59b0d57f46f8677fb5904294a23d404a">cv::findFundamentalMat</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, int method, double ransacReprojThreshold, double confidence, int maxIters, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:ga59b0d57f46f8677fb5904294a23d404a"><td class="mdescLeft"> </td><td class="mdescRight">Calculates a fundamental matrix from the corresponding points in two images.  <a href="../../d9/d0c/group__calib3d.html#ga59b0d57f46f8677fb5904294a23d404a">More...</a><br/></td></tr>
<tr class="separator:ga59b0d57f46f8677fb5904294a23d404a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gae420abc34eaa03d0c6a67359609d8429"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gae420abc34eaa03d0c6a67359609d8429">cv::findFundamentalMat</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, int method=<a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3baeb30cc6b8fc94600bc04f16c14644fdd">FM_RANSAC</a>, double ransacReprojThreshold=3., double confidence=0.99, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="separator:gae420abc34eaa03d0c6a67359609d8429"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga49ea1a98c80a5e7d50ad4361dcf2877a"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga49ea1a98c80a5e7d50ad4361dcf2877a">cv::findFundamentalMat</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask, int method=<a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3baeb30cc6b8fc94600bc04f16c14644fdd">FM_RANSAC</a>, double ransacReprojThreshold=3., double confidence=0.99)</td></tr>
<tr class="separator:ga49ea1a98c80a5e7d50ad4361dcf2877a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gae850fad056e407befb9e2db04dd9e509"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gae850fad056e407befb9e2db04dd9e509">cv::findFundamentalMat</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask, const <a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a> &amp;params)</td></tr>
<tr class="separator:gae850fad056e407befb9e2db04dd9e509"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga4abc2ece9fab9398f2e560d53c8c9780"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga4abc2ece9fab9398f2e560d53c8c9780">cv::findHomography</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> srcPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> dstPoints, int method=0, double ransacReprojThreshold=3, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), const int maxIters=2000, const double confidence=0.995)</td></tr>
<tr class="memdesc:ga4abc2ece9fab9398f2e560d53c8c9780"><td class="mdescLeft"> </td><td class="mdescRight">Finds a perspective transformation between two planes.  <a href="../../d9/d0c/group__calib3d.html#ga4abc2ece9fab9398f2e560d53c8c9780">More...</a><br/></td></tr>
<tr class="separator:ga4abc2ece9fab9398f2e560d53c8c9780"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gafd3ef89257e27d5235f4467cbb1b6a63"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gafd3ef89257e27d5235f4467cbb1b6a63">cv::findHomography</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> srcPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> dstPoints, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask, int method=0, double ransacReprojThreshold=3)</td></tr>
<tr class="separator:gafd3ef89257e27d5235f4467cbb1b6a63"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga4b3841447530523e5272ec05c5d1e411"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga4b3841447530523e5272ec05c5d1e411">cv::findHomography</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> srcPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> dstPoints, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mask, const <a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a> &amp;params)</td></tr>
<tr class="separator:ga4b3841447530523e5272ec05c5d1e411"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga744529385e88ef7bc841cbe04b35bfbf"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga744529385e88ef7bc841cbe04b35bfbf">cv::getDefaultNewCameraMatrix</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imgsize=<a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a>(), bool centerPrincipalPoint=false)</td></tr>
<tr class="memdesc:ga744529385e88ef7bc841cbe04b35bfbf"><td class="mdescLeft"> </td><td class="mdescRight">Returns the default new camera matrix.  <a href="../../d9/d0c/group__calib3d.html#ga744529385e88ef7bc841cbe04b35bfbf">More...</a><br/></td></tr>
<tr class="separator:ga744529385e88ef7bc841cbe04b35bfbf"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga7a6c4e032c97f03ba747966e6ad862b1"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga7a6c4e032c97f03ba747966e6ad862b1">cv::getOptimalNewCameraMatrix</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, double alpha, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> newImgSize=<a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> *validPixROI=0, bool centerPrincipalPoint=false)</td></tr>
<tr class="memdesc:ga7a6c4e032c97f03ba747966e6ad862b1"><td class="mdescLeft"> </td><td class="mdescRight">Returns the new camera intrinsic matrix based on the free scaling parameter.  <a href="../../d9/d0c/group__calib3d.html#ga7a6c4e032c97f03ba747966e6ad862b1">More...</a><br/></td></tr>
<tr class="separator:ga7a6c4e032c97f03ba747966e6ad862b1"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gac3047e553195230138210ff645ca29eb"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gac3047e553195230138210ff645ca29eb">cv::getValidDisparityROI</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> roi1, <a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> roi2, int minDisparity, int numberOfDisparities, int blockSize)</td></tr>
<tr class="memdesc:gac3047e553195230138210ff645ca29eb"><td class="mdescLeft"> </td><td class="mdescRight">computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by <a class="el" href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6" title="Computes rectification transforms for each head of a calibrated stereo camera. ">cv::stereoRectify()</a>)  <a href="../../d9/d0c/group__calib3d.html#gac3047e553195230138210ff645ca29eb">More...</a><br/></td></tr>
<tr class="separator:gac3047e553195230138210ff645ca29eb"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga8132c7dbbb61738cc3510bebbdffde55"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga8132c7dbbb61738cc3510bebbdffde55">cv::initCameraMatrix2D</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, double aspectRatio=1.0)</td></tr>
<tr class="memdesc:ga8132c7dbbb61738cc3510bebbdffde55"><td class="mdescLeft"> </td><td class="mdescRight">Finds an initial camera intrinsic matrix from 3D-2D point correspondences.  <a href="../../d9/d0c/group__calib3d.html#ga8132c7dbbb61738cc3510bebbdffde55">More...</a><br/></td></tr>
<tr class="separator:ga8132c7dbbb61738cc3510bebbdffde55"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga7dfb72c9cf9780a347fbe3d1c47e5d5a"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga7dfb72c9cf9780a347fbe3d1c47e5d5a">cv::initUndistortRectifyMap</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> newCameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> size, int m1type, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> map1, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> map2)</td></tr>
<tr class="memdesc:ga7dfb72c9cf9780a347fbe3d1c47e5d5a"><td class="mdescLeft"> </td><td class="mdescRight">Computes the undistortion and rectification transformation map.  <a href="../../d9/d0c/group__calib3d.html#ga7dfb72c9cf9780a347fbe3d1c47e5d5a">More...</a><br/></td></tr>
<tr class="separator:ga7dfb72c9cf9780a347fbe3d1c47e5d5a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga9185f4fbe1ad74af2c56a392393cf9f4"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga9185f4fbe1ad74af2c56a392393cf9f4">cv::initWideAngleProjMap</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, int destImageWidth, int m1type, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> map1, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> map2, enum <a class="el" href="../../d9/d0c/group__calib3d.html#gace497823594b601f2094d32dde6a3c94">UndistortTypes</a> projType=<a class="el" href="../../d9/d0c/group__calib3d.html#ggace497823594b601f2094d32dde6a3c94a62d8708c29117854d6903d8e1155d8c0">PROJ_SPHERICAL_EQRECT</a>, double alpha=0)</td></tr>
<tr class="memdesc:ga9185f4fbe1ad74af2c56a392393cf9f4"><td class="mdescLeft"> </td><td class="mdescRight">initializes maps for <a class="el" href="../../da/d54/group__imgproc__transform.html#gab75ef31ce5cdfb5c44b6da5f3b908ea4" title="Applies a generic geometrical transformation to an image. ">remap</a> for wide-angle  <a href="../../d9/d0c/group__calib3d.html#ga9185f4fbe1ad74af2c56a392393cf9f4">More...</a><br/></td></tr>
<tr class="separator:ga9185f4fbe1ad74af2c56a392393cf9f4"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gacc07e561972abd7dcfe4a3dc00b7bb8b"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gacc07e561972abd7dcfe4a3dc00b7bb8b">cv::initWideAngleProjMap</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, int destImageWidth, int m1type, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> map1, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> map2, int projType, double alpha=0)</td></tr>
<tr class="separator:gacc07e561972abd7dcfe4a3dc00b7bb8b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga905541c1275852eabff7dbdfbc10d160"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga905541c1275852eabff7dbdfbc10d160">cv::matMulDeriv</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> A, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> B, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dABdA, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dABdB)</td></tr>
<tr class="memdesc:ga905541c1275852eabff7dbdfbc10d160"><td class="mdescLeft"> </td><td class="mdescRight">Computes partial derivatives of the matrix product for each multiplied matrix.  <a href="../../d9/d0c/group__calib3d.html#ga905541c1275852eabff7dbdfbc10d160">More...</a><br/></td></tr>
<tr class="separator:ga905541c1275852eabff7dbdfbc10d160"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga1019495a2c8d1743ed5cc23fa0daff8c"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga1019495a2c8d1743ed5cc23fa0daff8c">cv::projectPoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> rvec, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> tvec, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> jacobian=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), double aspectRatio=0)</td></tr>
<tr class="memdesc:ga1019495a2c8d1743ed5cc23fa0daff8c"><td class="mdescLeft"> </td><td class="mdescRight">Projects 3D points to an image plane.  <a href="../../d9/d0c/group__calib3d.html#ga1019495a2c8d1743ed5cc23fa0daff8c">More...</a><br/></td></tr>
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<tr class="memitem:gadb7d2dfcc184c1d2f496d8639f4371c0"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gadb7d2dfcc184c1d2f496d8639f4371c0">cv::recoverPose</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> E, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> t, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:gadb7d2dfcc184c1d2f496d8639f4371c0"><td class="mdescLeft"> </td><td class="mdescRight">Recovers the relative camera rotation and the translation from an estimated essential matrix and the corresponding points in two images, using cheirality check. Returns the number of inliers that pass the check.  <a href="../../d9/d0c/group__calib3d.html#gadb7d2dfcc184c1d2f496d8639f4371c0">More...</a><br/></td></tr>
<tr class="separator:gadb7d2dfcc184c1d2f496d8639f4371c0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga40919d0c7eaf77b0df67dd76d5d24fa1"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga40919d0c7eaf77b0df67dd76d5d24fa1">cv::recoverPose</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> E, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> t, double focal=1.0, <a class="el" href="../../dc/d84/group__core__basic.html#ga32986d8c6fd05949688352abd112509f">Point2d</a> pp=<a class="el" href="../../dc/d84/group__core__basic.html#ga32986d8c6fd05949688352abd112509f">Point2d</a>(0, 0), <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="separator:ga40919d0c7eaf77b0df67dd76d5d24fa1"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga2ee9f187170acece29c5172c2175e7ae"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga2ee9f187170acece29c5172c2175e7ae">cv::recoverPose</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> E, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> t, double distanceThresh, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> triangulatedPoints=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="separator:ga2ee9f187170acece29c5172c2175e7ae"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gabd5437becb62abc0fe951c532a94b655"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gabd5437becb62abc0fe951c532a94b655">cv::rectify3Collinear</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix3, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs3, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imgpt1, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imgpt3, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> R12, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> T12, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> R13, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> T13, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R1, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R3, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> P1, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> P2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> P3, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Q, double alpha, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> newImgSize, <a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> *roi1, <a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> *roi2, int flags)</td></tr>
<tr class="memdesc:gabd5437becb62abc0fe951c532a94b655"><td class="mdescLeft"> </td><td class="mdescRight">computes the rectification transformations for 3-head camera, where all the heads are on the same line.  <a href="../../d9/d0c/group__calib3d.html#gabd5437becb62abc0fe951c532a94b655">More...</a><br/></td></tr>
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<tr class="memitem:ga1bc1152bd57d63bc524204f21fde6e02"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga1bc1152bd57d63bc524204f21fde6e02">cv::reprojectImageTo3D</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> disparity, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> _3dImage, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> Q, bool handleMissingValues=false, int ddepth=-1)</td></tr>
<tr class="memdesc:ga1bc1152bd57d63bc524204f21fde6e02"><td class="mdescLeft"> </td><td class="mdescRight">Reprojects a disparity image to 3D space.  <a href="../../d9/d0c/group__calib3d.html#ga1bc1152bd57d63bc524204f21fde6e02">More...</a><br/></td></tr>
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<tr class="memitem:ga61585db663d9da06b68e70cfbf6a1eac"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">cv::Rodrigues</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dst, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> jacobian=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:ga61585db663d9da06b68e70cfbf6a1eac"><td class="mdescLeft"> </td><td class="mdescRight">Converts a rotation matrix to a rotation vector or vice versa.  <a href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">More...</a><br/></td></tr>
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<tr class="memitem:ga1aaacb6224ec7b99d34866f8f9baac83"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga370d94209693b5b13437ab4991cabf73">Vec3d</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga1aaacb6224ec7b99d34866f8f9baac83">cv::RQDecomp3x3</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mtxR, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> mtxQ, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Qx=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Qy=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Qz=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:ga1aaacb6224ec7b99d34866f8f9baac83"><td class="mdescLeft"> </td><td class="mdescRight">Computes an RQ decomposition of 3x3 matrices.  <a href="../../d9/d0c/group__calib3d.html#ga1aaacb6224ec7b99d34866f8f9baac83">More...</a><br/></td></tr>
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<tr class="memitem:gacbba2ee98258ca81d352a31faa15a021"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gacbba2ee98258ca81d352a31faa15a021">cv::sampsonDistance</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> pt1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> pt2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> F)</td></tr>
<tr class="memdesc:gacbba2ee98258ca81d352a31faa15a021"><td class="mdescLeft"> </td><td class="mdescRight">Calculates the Sampson Distance between two points.  <a href="../../d9/d0c/group__calib3d.html#gacbba2ee98258ca81d352a31faa15a021">More...</a><br/></td></tr>
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<tr class="memitem:gae5af86788e99948d40b39a03f6acf623"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gae5af86788e99948d40b39a03f6acf623">cv::solveP3P</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> rvecs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> tvecs, int flags)</td></tr>
<tr class="memdesc:gae5af86788e99948d40b39a03f6acf623"><td class="mdescLeft"> </td><td class="mdescRight">Finds an object pose from 3 3D-2D point correspondences.  <a href="../../d9/d0c/group__calib3d.html#gae5af86788e99948d40b39a03f6acf623">More...</a><br/></td></tr>
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<tr class="memitem:ga549c2075fac14829ff4a58bc931c033d"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d">cv::solvePnP</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> rvec, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> tvec, bool useExtrinsicGuess=false, int flags=<a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a>)</td></tr>
<tr class="memdesc:ga549c2075fac14829ff4a58bc931c033d"><td class="mdescLeft"> </td><td class="mdescRight">Finds an object pose from 3D-2D point correspondences. This function returns the rotation and the translation vectors that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame, using different methods:  <a href="../../d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d">More...</a><br/></td></tr>
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<tr class="memitem:ga624af8a6641b9bdb487f63f694e8bb90"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga624af8a6641b9bdb487f63f694e8bb90">cv::solvePnPGeneric</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> rvecs, <a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> tvecs, bool useExtrinsicGuess=false, <a class="el" href="../../d9/d0c/group__calib3d.html#ga357634492a94efe8858d0ce1509da869">SolvePnPMethod</a> flags=<a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a>, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> rvec=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> tvec=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> reprojectionError=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:ga624af8a6641b9bdb487f63f694e8bb90"><td class="mdescLeft"> </td><td class="mdescRight">Finds an object pose from 3D-2D point correspondences. This function returns a list of all the possible solutions (a solution is a &lt;rotation vector, translation vector&gt; couple), depending on the number of input points and the chosen method:  <a href="../../d9/d0c/group__calib3d.html#ga624af8a6641b9bdb487f63f694e8bb90">More...</a><br/></td></tr>
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<tr class="memitem:ga50620f0e26e02caa2e9adc07b5fbf24e"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga50620f0e26e02caa2e9adc07b5fbf24e">cv::solvePnPRansac</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> rvec, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> tvec, bool useExtrinsicGuess=false, int iterationsCount=100, float reprojectionError=8.0, double confidence=0.99, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> inliers=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), int flags=<a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a>)</td></tr>
<tr class="memdesc:ga50620f0e26e02caa2e9adc07b5fbf24e"><td class="mdescLeft"> </td><td class="mdescRight">Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.  <a href="../../d9/d0c/group__calib3d.html#ga50620f0e26e02caa2e9adc07b5fbf24e">More...</a><br/></td></tr>
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<tr class="memitem:gab14667ec49eda61b4a3f14eb9704373b"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gab14667ec49eda61b4a3f14eb9704373b">cv::solvePnPRansac</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> rvec, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> tvec, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> inliers, const <a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a> &amp;params=<a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a>())</td></tr>
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<tr class="memitem:ga650ba4d286a96d992f82c3e6dfa525fa"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga650ba4d286a96d992f82c3e6dfa525fa">cv::solvePnPRefineLM</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> rvec, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> tvec, <a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> criteria=<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>, 20, FLT_EPSILON))</td></tr>
<tr class="memdesc:ga650ba4d286a96d992f82c3e6dfa525fa"><td class="mdescLeft"> </td><td class="mdescRight">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.  <a href="../../d9/d0c/group__calib3d.html#ga650ba4d286a96d992f82c3e6dfa525fa">More...</a><br/></td></tr>
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<tr class="memitem:ga17491c0282e4af874f6206a9166774a5"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga17491c0282e4af874f6206a9166774a5">cv::solvePnPRefineVVS</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> imagePoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> rvec, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> tvec, <a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> criteria=<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>, 20, FLT_EPSILON), double VVSlambda=1)</td></tr>
<tr class="memdesc:ga17491c0282e4af874f6206a9166774a5"><td class="mdescLeft"> </td><td class="mdescRight">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.  <a href="../../d9/d0c/group__calib3d.html#ga17491c0282e4af874f6206a9166774a5">More...</a><br/></td></tr>
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<tr class="memitem:ga91018d80e2a93ade37539f01e6f07de5"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga91018d80e2a93ade37539f01e6f07de5">cv::stereoCalibrate</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imagePoints1, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imagePoints2, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> cameraMatrix1, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> distCoeffs1, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> cameraMatrix2, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> distCoeffs2, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> T, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> E, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> F, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> perViewErrors, int flags=<a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa51df9c05343c61ddb18324ded0fab86a">CALIB_FIX_INTRINSIC</a>, <a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> criteria=<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, 1e-6))</td></tr>
<tr class="memdesc:ga91018d80e2a93ade37539f01e6f07de5"><td class="mdescLeft"> </td><td class="mdescRight">Calibrates a stereo camera set up. This function finds the intrinsic parameters for each of the two cameras and the extrinsic parameters between the two cameras.  <a href="../../d9/d0c/group__calib3d.html#ga91018d80e2a93ade37539f01e6f07de5">More...</a><br/></td></tr>
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<tr class="memitem:ga246253dcc6de2e0376c599e7d692303a"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga246253dcc6de2e0376c599e7d692303a">cv::stereoCalibrate</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> objectPoints, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imagePoints1, <a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> imagePoints2, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> cameraMatrix1, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> distCoeffs1, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> cameraMatrix2, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> distCoeffs2, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> T, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> E, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> F, int flags=<a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa51df9c05343c61ddb18324ded0fab86a">CALIB_FIX_INTRINSIC</a>, <a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> criteria=<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, 1e-6))</td></tr>
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<tr class="memitem:ga617b1685d4059c6040827800e72ad2b6"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6">cv::stereoRectify</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs2, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imageSize, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> T, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R1, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> P1, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> P2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Q, int flags=<a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fae49985db1f4453c5dda1d701a3d8dd76">CALIB_ZERO_DISPARITY</a>, double alpha=-1, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> newImageSize=<a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> *validPixROI1=0, <a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> *validPixROI2=0)</td></tr>
<tr class="memdesc:ga617b1685d4059c6040827800e72ad2b6"><td class="mdescLeft"> </td><td class="mdescRight">Computes rectification transforms for each head of a calibrated stereo camera.  <a href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6">More...</a><br/></td></tr>
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<tr class="memitem:gaadc5b14471ddc004939471339294f052"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gaadc5b14471ddc004939471339294f052">cv::stereoRectifyUncalibrated</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> F, <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> imgSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> H1, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> H2, double <a class="el" href="../../d7/d1b/group__imgproc__misc.html#gae8a4a146d1ca78c626a53577199e9c57">threshold</a>=5)</td></tr>
<tr class="memdesc:gaadc5b14471ddc004939471339294f052"><td class="mdescLeft"> </td><td class="mdescRight">Computes a rectification transform for an uncalibrated stereo camera.  <a href="../../d9/d0c/group__calib3d.html#gaadc5b14471ddc004939471339294f052">More...</a><br/></td></tr>
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<tr class="memitem:gad3fc9a0c82b08df034234979960b778c"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#gad3fc9a0c82b08df034234979960b778c">cv::triangulatePoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> projMatr1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> projMatr2, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> projPoints1, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> projPoints2, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points4D)</td></tr>
<tr class="memdesc:gad3fc9a0c82b08df034234979960b778c"><td class="mdescLeft"> </td><td class="mdescRight">This function reconstructs 3-dimensional points (in homogeneous coordinates) by using their observations with a stereo camera.  <a href="../../d9/d0c/group__calib3d.html#gad3fc9a0c82b08df034234979960b778c">More...</a><br/></td></tr>
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<tr class="memitem:ga69f2545a8b62a6b0fc2ee060dc30559d"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga69f2545a8b62a6b0fc2ee060dc30559d">cv::undistort</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dst, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> newCameraMatrix=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:ga69f2545a8b62a6b0fc2ee060dc30559d"><td class="mdescLeft"> </td><td class="mdescRight">Transforms an image to compensate for lens distortion.  <a href="../../d9/d0c/group__calib3d.html#ga69f2545a8b62a6b0fc2ee060dc30559d">More...</a><br/></td></tr>
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<tr class="memitem:ga55c716492470bfe86b0ee9bf3a1f0f7e"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga55c716492470bfe86b0ee9bf3a1f0f7e">cv::undistortPoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dst, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> R=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> P=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="memdesc:ga55c716492470bfe86b0ee9bf3a1f0f7e"><td class="mdescLeft"> </td><td class="mdescRight">Computes the ideal point coordinates from the observed point coordinates.  <a href="../../d9/d0c/group__calib3d.html#ga55c716492470bfe86b0ee9bf3a1f0f7e">More...</a><br/></td></tr>
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<tr class="memitem:ga887960ea1bde84784e7f1710a922b93c"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga887960ea1bde84784e7f1710a922b93c">cv::undistortPoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dst, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> distCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> P, <a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> criteria)</td></tr>
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<tr class="memitem:ga214b498b8d01d0417e0d08be64c54eb5"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0c/group__calib3d.html#ga214b498b8d01d0417e0d08be64c54eb5">cv::validateDisparity</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> disparity, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp=1)</td></tr>
<tr class="memdesc:ga214b498b8d01d0417e0d08be64c54eb5"><td class="mdescLeft"> </td><td class="mdescRight">validates disparity using the left-right check. The matrix "cost" should be computed by the stereo correspondence algorithm  <a href="../../d9/d0c/group__calib3d.html#ga214b498b8d01d0417e0d08be64c54eb5">More...</a><br/></td></tr>
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</table>
<a id="details" name="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>The functions in this section use a so-called pinhole camera model. The view of a scene is obtained by projecting a scene's 3D point \(P_w\) into the image plane using a perspective transformation which forms the corresponding pixel \(p\). Both \(P_w\) and \(p\) are represented in homogeneous coordinates, i.e. as 3D and 2D homogeneous vector respectively. You will find a brief introduction to projective geometry, homogeneous vectors and homogeneous transformations at the end of this section's introduction. For more succinct notation, we often drop the 'homogeneous' and say vector instead of homogeneous vector.</p>
<p>The distortion-free projective transformation given by a pinhole camera model is shown below.</p>
<p class="formulaDsp">
\[s \; p = A \begin{bmatrix} R|t \end{bmatrix} P_w,\]
</p>
<p>where \(P_w\) is a 3D point expressed with respect to the world coordinate system, \(p\) is a 2D pixel in the image plane, \(A\) is the camera intrinsic matrix, \(R\) and \(t\) are the rotation and translation that describe the change of coordinates from world to camera coordinate systems (or camera frame) and \(s\) is the projective transformation's arbitrary scaling and not part of the camera model.</p>
<p>The camera intrinsic matrix \(A\) (notation used as in <a class="el" href="../../d0/de3/citelist.html#CITEREF_Zhang2000">[293]</a> and also generally notated as \(K\)) projects 3D points given in the camera coordinate system to 2D pixel coordinates, i.e.</p>
<p class="formulaDsp">
\[p = A P_c.\]
</p>
<p>The camera intrinsic matrix \(A\) is composed of the focal lengths \(f_x\) and \(f_y\), which are expressed in pixel units, and the principal point \((c_x, c_y)\), that is usually close to the image center:</p>
<p class="formulaDsp">
\[A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1},\]
</p>
<p>and thus</p>
<p class="formulaDsp">
\[s \vecthree{u}{v}{1} = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1} \vecthree{X_c}{Y_c}{Z_c}.\]
</p>
<p>The matrix of intrinsic parameters does not depend on the scene viewed. So, once estimated, it can be re-used as long as the focal length is fixed (in case of a zoom lens). Thus, if an image from the camera is scaled by a factor, all of these parameters need to be scaled (multiplied/divided, respectively) by the same factor.</p>
<p>The joint rotation-translation matrix \([R|t]\) is the matrix product of a projective transformation and a homogeneous transformation. The 3-by-4 projective transformation maps 3D points represented in camera coordinates to 2D points in the image plane and represented in normalized camera coordinates \(x' = X_c / Z_c\) and \(y' = Y_c / Z_c\):</p>
<p class="formulaDsp">
\[Z_c \begin{bmatrix} x' \\ y' \\ 1 \end{bmatrix} = \begin{bmatrix} 1 &amp; 0 &amp; 0 &amp; 0 \\ 0 &amp; 1 &amp; 0 &amp; 0 \\ 0 &amp; 0 &amp; 1 &amp; 0 \end{bmatrix} \begin{bmatrix} X_c \\ Y_c \\ Z_c \\ 1 \end{bmatrix}.\]
</p>
<p>The homogeneous transformation is encoded by the extrinsic parameters \(R\) and \(t\) and represents the change of basis from world coordinate system \(w\) to the camera coordinate sytem \(c\). Thus, given the representation of the point \(P\) in world coordinates, \(P_w\), we obtain \(P\)'s representation in the camera coordinate system, \(P_c\), by</p>
<p class="formulaDsp">
\[P_c = \begin{bmatrix} R &amp; t \\ 0 &amp; 1 \end{bmatrix} P_w,\]
</p>
<p>This homogeneous transformation is composed out of \(R\), a 3-by-3 rotation matrix, and \(t\), a 3-by-1 translation vector:</p>
<p class="formulaDsp">
\[\begin{bmatrix} R &amp; t \\ 0 &amp; 1 \end{bmatrix} = \begin{bmatrix} r_{11} &amp; r_{12} &amp; r_{13} &amp; t_x \\ r_{21} &amp; r_{22} &amp; r_{23} &amp; t_y \\ r_{31} &amp; r_{32} &amp; r_{33} &amp; t_z \\ 0 &amp; 0 &amp; 0 &amp; 1 \end{bmatrix}, \]
</p>
<p>and therefore</p>
<p class="formulaDsp">
\[\begin{bmatrix} X_c \\ Y_c \\ Z_c \\ 1 \end{bmatrix} = \begin{bmatrix} r_{11} &amp; r_{12} &amp; r_{13} &amp; t_x \\ r_{21} &amp; r_{22} &amp; r_{23} &amp; t_y \\ r_{31} &amp; r_{32} &amp; r_{33} &amp; t_z \\ 0 &amp; 0 &amp; 0 &amp; 1 \end{bmatrix} \begin{bmatrix} X_w \\ Y_w \\ Z_w \\ 1 \end{bmatrix}.\]
</p>
<p>Combining the projective transformation and the homogeneous transformation, we obtain the projective transformation that maps 3D points in world coordinates into 2D points in the image plane and in normalized camera coordinates:</p>
<p class="formulaDsp">
\[Z_c \begin{bmatrix} x' \\ y' \\ 1 \end{bmatrix} = \begin{bmatrix} R|t \end{bmatrix} \begin{bmatrix} X_w \\ Y_w \\ Z_w \\ 1 \end{bmatrix} = \begin{bmatrix} r_{11} &amp; r_{12} &amp; r_{13} &amp; t_x \\ r_{21} &amp; r_{22} &amp; r_{23} &amp; t_y \\ r_{31} &amp; r_{32} &amp; r_{33} &amp; t_z \end{bmatrix} \begin{bmatrix} X_w \\ Y_w \\ Z_w \\ 1 \end{bmatrix},\]
</p>
<p>with \(x' = X_c / Z_c\) and \(y' = Y_c / Z_c\). Putting the equations for instrincs and extrinsics together, we can write out \(s \; p = A \begin{bmatrix} R|t \end{bmatrix} P_w\) as</p>
<p class="formulaDsp">
\[s \vecthree{u}{v}{1} = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1} \begin{bmatrix} r_{11} &amp; r_{12} &amp; r_{13} &amp; t_x \\ r_{21} &amp; r_{22} &amp; r_{23} &amp; t_y \\ r_{31} &amp; r_{32} &amp; r_{33} &amp; t_z \end{bmatrix} \begin{bmatrix} X_w \\ Y_w \\ Z_w \\ 1 \end{bmatrix}.\]
</p>
<p>If \(Z_c \ne 0\), the transformation above is equivalent to the following,</p>
<p class="formulaDsp">
\[\begin{bmatrix} u \\ v \end{bmatrix} = \begin{bmatrix} f_x X_c/Z_c + c_x \\ f_y Y_c/Z_c + c_y \end{bmatrix}\]
</p>
<p>with</p>
<p class="formulaDsp">
\[\vecthree{X_c}{Y_c}{Z_c} = \begin{bmatrix} R|t \end{bmatrix} \begin{bmatrix} X_w \\ Y_w \\ Z_w \\ 1 \end{bmatrix}.\]
</p>
<p>The following figure illustrates the pinhole camera model.</p>
<div class="image">
<img alt="pinhole_camera_model.png" src="../../pinhole_camera_model.png"/>
<div class="caption">
Pinhole camera model</div></div>
<p> Real lenses usually have some distortion, mostly radial distortion, and slight tangential distortion. So, the above model is extended as:</p>
<p class="formulaDsp">
\[\begin{bmatrix} u \\ v \end{bmatrix} = \begin{bmatrix} f_x x'' + c_x \\ f_y y'' + c_y \end{bmatrix}\]
</p>
<p>where</p>
<p class="formulaDsp">
\[\begin{bmatrix} x'' \\ y'' \end{bmatrix} = \begin{bmatrix} x' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + 2 p_1 x' y' + p_2(r^2 + 2 x'^2) + s_1 r^2 + s_2 r^4 \\ y' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + p_1 (r^2 + 2 y'^2) + 2 p_2 x' y' + s_3 r^2 + s_4 r^4 \\ \end{bmatrix}\]
</p>
<p>with</p>
<p class="formulaDsp">
\[r^2 = x'^2 + y'^2\]
</p>
<p>and</p>
<p class="formulaDsp">
\[\begin{bmatrix} x'\\ y' \end{bmatrix} = \begin{bmatrix} X_c/Z_c \\ Y_c/Z_c \end{bmatrix},\]
</p>
<p>if \(Z_c \ne 0\).</p>
<p>The distortion parameters are the radial coefficients \(k_1\), \(k_2\), \(k_3\), \(k_4\), \(k_5\), and \(k_6\) , \(p_1\) and \(p_2\) are the tangential distortion coefficients, and \(s_1\), \(s_2\), \(s_3\), and \(s_4\), are the thin prism distortion coefficients. Higher-order coefficients are not considered in OpenCV.</p>
<p>The next figures show two common types of radial distortion: barrel distortion ( \( 1 + k_1 r^2 + k_2 r^4 + k_3 r^6 \) monotonically decreasing) and pincushion distortion ( \( 1 + k_1 r^2 + k_2 r^4 + k_3 r^6 \) monotonically increasing). Radial distortion is always monotonic for real lenses, and if the estimator produces a non-monotonic result, this should be considered a calibration failure. More generally, radial distortion must be monotonic and the distortion function must be bijective. A failed estimation result may look deceptively good near the image center but will work poorly in e.g. AR/SFM applications. The optimization method used in OpenCV camera calibration does not include these constraints as the framework does not support the required integer programming and polynomial inequalities. See <a href="https://github.com/opencv/opencv/issues/15992">issue #15992</a> for additional information.</p>
<div class="image">
<img alt="distortion_examples.png" src="../../distortion_examples.png"/>
</div>
 <div class="image">
<img alt="distortion_examples2.png" src="../../distortion_examples2.png"/>
</div>
<p>In some cases, the image sensor may be tilted in order to focus an oblique plane in front of the camera (Scheimpflug principle). This can be useful for particle image velocimetry (PIV) or triangulation with a laser fan. The tilt causes a perspective distortion of \(x''\) and \(y''\). This distortion can be modeled in the following way, see e.g. <a class="el" href="../../d0/de3/citelist.html#CITEREF_Louhichi07">[152]</a>.</p>
<p class="formulaDsp">
\[\begin{bmatrix} u \\ v \end{bmatrix} = \begin{bmatrix} f_x x''' + c_x \\ f_y y''' + c_y \end{bmatrix},\]
</p>
<p>where</p>
<p class="formulaDsp">
\[s\vecthree{x'''}{y'''}{1} = \vecthreethree{R_{33}(\tau_x, \tau_y)}{0}{-R_{13}(\tau_x, \tau_y)} {0}{R_{33}(\tau_x, \tau_y)}{-R_{23}(\tau_x, \tau_y)} {0}{0}{1} R(\tau_x, \tau_y) \vecthree{x''}{y''}{1}\]
</p>
<p>and the matrix \(R(\tau_x, \tau_y)\) is defined by two rotations with angular parameter \(\tau_x\) and \(\tau_y\), respectively,</p>
<p class="formulaDsp">
\[ R(\tau_x, \tau_y) = \vecthreethree{\cos(\tau_y)}{0}{-\sin(\tau_y)}{0}{1}{0}{\sin(\tau_y)}{0}{\cos(\tau_y)} \vecthreethree{1}{0}{0}{0}{\cos(\tau_x)}{\sin(\tau_x)}{0}{-\sin(\tau_x)}{\cos(\tau_x)} = \vecthreethree{\cos(\tau_y)}{\sin(\tau_y)\sin(\tau_x)}{-\sin(\tau_y)\cos(\tau_x)} {0}{\cos(\tau_x)}{\sin(\tau_x)} {\sin(\tau_y)}{-\cos(\tau_y)\sin(\tau_x)}{\cos(\tau_y)\cos(\tau_x)}. \]
</p>
<p>In the functions below the coefficients are passed or returned as</p>
<p class="formulaDsp">
\[(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\]
</p>
<p>vector. That is, if the vector contains four elements, it means that \(k_3=0\) . The distortion coefficients do not depend on the scene viewed. Thus, they also belong to the intrinsic camera parameters. And they remain the same regardless of the captured image resolution. If, for example, a camera has been calibrated on images of 320 x 240 resolution, absolutely the same distortion coefficients can be used for 640 x 480 images from the same camera while \(f_x\), \(f_y\), \(c_x\), and \(c_y\) need to be scaled appropriately.</p>
<p>The functions below use the above model to do the following:</p>
<ul>
<li>Project 3D points to the image plane given intrinsic and extrinsic parameters.</li>
<li>Compute extrinsic parameters given intrinsic parameters, a few 3D points, and their projections.</li>
<li>Estimate intrinsic and extrinsic camera parameters from several views of a known calibration pattern (every view is described by several 3D-2D point correspondences).</li>
<li>Estimate the relative position and orientation of the stereo camera "heads" and compute the rectification* transformation that makes the camera optical axes parallel.</li>
</ul>
<p><b> Homogeneous Coordinates </b><br/>
 Homogeneous Coordinates are a system of coordinates that are used in projective geometry. Their use allows to represent points at infinity by finite coordinates and simplifies formulas when compared to the cartesian counterparts, e.g. they have the advantage that affine transformations can be expressed as linear homogeneous transformation.</p>
<p>One obtains the homogeneous vector \(P_h\) by appending a 1 along an n-dimensional cartesian vector \(P\) e.g. for a 3D cartesian vector the mapping \(P \rightarrow P_h\) is:</p>
<p class="formulaDsp">
\[\begin{bmatrix} X \\ Y \\ Z \end{bmatrix} \rightarrow \begin{bmatrix} X \\ Y \\ Z \\ 1 \end{bmatrix}.\]
</p>
<p>For the inverse mapping \(P_h \rightarrow P\), one divides all elements of the homogeneous vector by its last element, e.g. for a 3D homogeneous vector one gets its 2D cartesian counterpart by:</p>
<p class="formulaDsp">
\[\begin{bmatrix} X \\ Y \\ W \end{bmatrix} \rightarrow \begin{bmatrix} X / W \\ Y / W \end{bmatrix},\]
</p>
<p>if \(W \ne 0\).</p>
<p>Due to this mapping, all multiples \(k P_h\), for \(k \ne 0\), of a homogeneous point represent the same point \(P_h\). An intuitive understanding of this property is that under a projective transformation, all multiples of \(P_h\) are mapped to the same point. This is the physical observation one does for pinhole cameras, as all points along a ray through the camera's pinhole are projected to the same image point, e.g. all points along the red ray in the image of the pinhole camera model above would be mapped to the same image coordinate. This property is also the source for the scale ambiguity s in the equation of the pinhole camera model.</p>
<p>As mentioned, by using homogeneous coordinates we can express any change of basis parameterized by \(R\) and \(t\) as a linear transformation, e.g. for the change of basis from coordinate system 0 to coordinate system 1 becomes:</p>
<p class="formulaDsp">
\[P_1 = R P_0 + t \rightarrow P_{h_1} = \begin{bmatrix} R &amp; t \\ 0 &amp; 1 \end{bmatrix} P_{h_0}.\]
</p>
<dl class="section note"><dt>Note</dt><dd><ul>
<li>Many functions in this module take a camera intrinsic matrix as an input parameter. Although all functions assume the same structure of this parameter, they may name it differently. The parameter's description, however, will be clear in that a camera intrinsic matrix with the structure shown above is required.</li>
<li>A calibration sample for 3 cameras in a horizontal position can be found at opencv_source_code/samples/cpp/3calibration.cpp</li>
<li>A calibration sample based on a sequence of images can be found at opencv_source_code/samples/cpp/calibration.cpp</li>
<li>A calibration sample in order to do 3D reconstruction can be found at opencv_source_code/samples/cpp/build3dmodel.cpp</li>
<li>A calibration example on stereo calibration can be found at opencv_source_code/samples/cpp/stereo_calib.cpp</li>
<li>A calibration example on stereo matching can be found at opencv_source_code/samples/cpp/stereo_match.cpp</li>
<li>(Python) A camera calibration sample can be found at opencv_source_code/samples/python/calibrate.py </li>
</ul>
</dd></dl>
<h2 class="groupheader">Typedef Documentation</h2>
<a id="ga3f5d9f231e61d6e3190042fbe510c06c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga3f5d9f231e61d6e3190042fbe510c06c">◆ </a></span>CirclesGridFinderParameters2</h2>
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          <td class="memname">typedef <a class="el" href="../../d2/dd1/structcv_1_1CirclesGridFinderParameters.html">CirclesGridFinderParameters</a> <a class="el" href="../../d9/d0c/group__calib3d.html#ga3f5d9f231e61d6e3190042fbe510c06c">cv::CirclesGridFinderParameters2</a></td>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
</div>
</div>
<h2 class="groupheader">Enumeration Type Documentation</h2>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>type of the robust estimation algorithm </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga58a3bc75c7337534ea9c1697b928cae0ae59a3f6677ddd05b96a298a6c24fcbe6"></a>LMEDS <div class="python_language">Python: cv.LMEDS</div></td><td class="fielddoc"><p>least-median of squares algorithm </p>
</td></tr>
<tr><td class="fieldname"><a id="gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87"></a>RANSAC <div class="python_language">Python: cv.RANSAC</div></td><td class="fielddoc"><p>RANSAC algorithm. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga58a3bc75c7337534ea9c1697b928cae0a6bba1f5405e6fcc199a6265d9b146359"></a>RHO <div class="python_language">Python: cv.RHO</div></td><td class="fielddoc"><p>RHO algorithm. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga58a3bc75c7337534ea9c1697b928cae0a4b3528b241cd6518433d26f2979056f7"></a>USAC_DEFAULT <div class="python_language">Python: cv.USAC_DEFAULT</div></td><td class="fielddoc"><p>USAC algorithm, default settings. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga58a3bc75c7337534ea9c1697b928cae0aaf2daaaed58488aa46d1845651764d1c"></a>USAC_PARALLEL <div class="python_language">Python: cv.USAC_PARALLEL</div></td><td class="fielddoc"><p>USAC, parallel version. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga58a3bc75c7337534ea9c1697b928cae0a0a768abd16b0623f5ad4c25f743c922b"></a>USAC_FM_8PTS <div class="python_language">Python: cv.USAC_FM_8PTS</div></td><td class="fielddoc"><p>USAC, fundamental matrix 8 points. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga58a3bc75c7337534ea9c1697b928cae0acc5b5497953f4bd79abc96536b6f9ebf"></a>USAC_FAST <div class="python_language">Python: cv.USAC_FAST</div></td><td class="fielddoc"><p>USAC, fast settings. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga58a3bc75c7337534ea9c1697b928cae0a7baee4b7674e46bce6abb736f080ddc4"></a>USAC_ACCURATE <div class="python_language">Python: cv.USAC_ACCURATE</div></td><td class="fielddoc"><p>USAC, accurate settings. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga58a3bc75c7337534ea9c1697b928cae0a2464c9f3555b21619482a97a1c698ac6"></a>USAC_PROSAC <div class="python_language">Python: cv.USAC_PROSAC</div></td><td class="fielddoc"><p>USAC, sorted points, runs PROSAC. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga58a3bc75c7337534ea9c1697b928cae0a2823d1cb0b7bc095d0e50896ee736d22"></a>USAC_MAGSAC <div class="python_language">Python: cv.USAC_MAGSAC</div></td><td class="fielddoc"><p>USAC, runs MAGSAC++. </p>
</td></tr>
</table>
</div>
</div>
<a id="ga9007b81edae8e7ead89219b316c109fb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga9007b81edae8e7ead89219b316c109fb">◆ </a></span>anonymous enum</h2>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga9007b81edae8e7ead89219b316c109fba9e296b20df217b62e581c56ad9359db5"></a>CALIB_CB_ADAPTIVE_THRESH <div class="python_language">Python: cv.CALIB_CB_ADAPTIVE_THRESH</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga9007b81edae8e7ead89219b316c109fbaf54c37b53d4375f95e9b1a3d9846c97a"></a>CALIB_CB_NORMALIZE_IMAGE <div class="python_language">Python: cv.CALIB_CB_NORMALIZE_IMAGE</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga9007b81edae8e7ead89219b316c109fbaa3481a374c81f6996c3c897fcf5b9b39"></a>CALIB_CB_FILTER_QUADS <div class="python_language">Python: cv.CALIB_CB_FILTER_QUADS</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga9007b81edae8e7ead89219b316c109fba5b5ef5178c5c5d50cc15719aecc5fd25"></a>CALIB_CB_FAST_CHECK <div class="python_language">Python: cv.CALIB_CB_FAST_CHECK</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga9007b81edae8e7ead89219b316c109fbabe82895b599d0a1c1cb1ef96c222682d"></a>CALIB_CB_EXHAUSTIVE <div class="python_language">Python: cv.CALIB_CB_EXHAUSTIVE</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga9007b81edae8e7ead89219b316c109fba2782e0f6a4a5d4f69054c16870c767e7"></a>CALIB_CB_ACCURACY <div class="python_language">Python: cv.CALIB_CB_ACCURACY</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga9007b81edae8e7ead89219b316c109fba8dc6198c5d486c78911a60cba58d0835"></a>CALIB_CB_LARGER <div class="python_language">Python: cv.CALIB_CB_LARGER</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga9007b81edae8e7ead89219b316c109fba9a4682e44762f5fc90b34f6ec95cce0e"></a>CALIB_CB_MARKER <div class="python_language">Python: cv.CALIB_CB_MARKER</div></td><td class="fielddoc"></td></tr>
</table>
</div>
</div>
<a id="gae515fd11d4c0e5b4162440eaf2094e02"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gae515fd11d4c0e5b4162440eaf2094e02">◆ </a></span>anonymous enum</h2>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ggae515fd11d4c0e5b4162440eaf2094e02a0f3929cc92e83ddce51ed008668db33a"></a>CALIB_CB_SYMMETRIC_GRID <div class="python_language">Python: cv.CALIB_CB_SYMMETRIC_GRID</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="ggae515fd11d4c0e5b4162440eaf2094e02a2ef9eceaffccf6a70aea8cd9006bd235"></a>CALIB_CB_ASYMMETRIC_GRID <div class="python_language">Python: cv.CALIB_CB_ASYMMETRIC_GRID</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="ggae515fd11d4c0e5b4162440eaf2094e02ad85eb1e4aff97e844098e03e39efd744"></a>CALIB_CB_CLUSTERING <div class="python_language">Python: cv.CALIB_CB_CLUSTERING</div></td><td class="fielddoc"></td></tr>
</table>
</div>
</div>
<a id="ga11738a219783c6dc7fdeb093a4a87c0f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga11738a219783c6dc7fdeb093a4a87c0f">◆ </a></span>anonymous enum</h2>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa830a38990b000cb578db06d842728649"></a>CALIB_NINTRINSIC <div class="python_language">Python: cv.CALIB_NINTRINSIC</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef"></a>CALIB_USE_INTRINSIC_GUESS <div class="python_language">Python: cv.CALIB_USE_INTRINSIC_GUESS</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa131c3576ad5c96991adea3a133b6ce65"></a>CALIB_FIX_ASPECT_RATIO <div class="python_language">Python: cv.CALIB_FIX_ASPECT_RATIO</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa564091bdcc5ab14785f185e16430ff62"></a>CALIB_FIX_PRINCIPAL_POINT <div class="python_language">Python: cv.CALIB_FIX_PRINCIPAL_POINT</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa769b5792d4e9c4ae073eaf317aec73ef"></a>CALIB_ZERO_TANGENT_DIST <div class="python_language">Python: cv.CALIB_ZERO_TANGENT_DIST</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa72b96c0777e60eda049e938b90c03e89"></a>CALIB_FIX_FOCAL_LENGTH <div class="python_language">Python: cv.CALIB_FIX_FOCAL_LENGTH</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fab4ac5ea2d2f2636ca8a384a5b717dd35"></a>CALIB_FIX_K1 <div class="python_language">Python: cv.CALIB_FIX_K1</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa78351bf220ecb6e910e446e6cac3c1d6"></a>CALIB_FIX_K2 <div class="python_language">Python: cv.CALIB_FIX_K2</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa5b447f4987f8a689cf7c618965a7a5a4"></a>CALIB_FIX_K3 <div class="python_language">Python: cv.CALIB_FIX_K3</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0faeb20ea94650da0e7d429be719edf19b1"></a>CALIB_FIX_K4 <div class="python_language">Python: cv.CALIB_FIX_K4</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa5e080a1f6b8e545196c2c2e874dce6ac"></a>CALIB_FIX_K5 <div class="python_language">Python: cv.CALIB_FIX_K5</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa7d57502505ca433b25116aebadf33088"></a>CALIB_FIX_K6 <div class="python_language">Python: cv.CALIB_FIX_K6</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa204766e24f2e413e7a7c9f8b9e93f16c"></a>CALIB_RATIONAL_MODEL <div class="python_language">Python: cv.CALIB_RATIONAL_MODEL</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0faa4ae44ce7bb854eabac902587af4dbe7"></a>CALIB_THIN_PRISM_MODEL <div class="python_language">Python: cv.CALIB_THIN_PRISM_MODEL</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fac148a479e5098f8ebfa49343a247280a"></a>CALIB_FIX_S1_S2_S3_S4 <div class="python_language">Python: cv.CALIB_FIX_S1_S2_S3_S4</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fac87f64a9ebe7c605bc8e4dd6e355528d"></a>CALIB_TILTED_MODEL <div class="python_language">Python: cv.CALIB_TILTED_MODEL</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa2c39f08cc098e2a79b13dfbad4e59317"></a>CALIB_FIX_TAUX_TAUY <div class="python_language">Python: cv.CALIB_FIX_TAUX_TAUY</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa6ee40ef8d871782b8d966eaf9ad29763"></a>CALIB_USE_QR <div class="python_language">Python: cv.CALIB_USE_QR</div></td><td class="fielddoc"><p>use QR instead of <a class="el" href="../../df/df7/classcv_1_1SVD.html" title="Singular Value Decomposition. ">SVD</a> decomposition for solving. Faster but potentially less precise </p>
</td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa69529599f6c9d237a38dcf9872887b05"></a>CALIB_FIX_TANGENT_DIST <div class="python_language">Python: cv.CALIB_FIX_TANGENT_DIST</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa51df9c05343c61ddb18324ded0fab86a"></a>CALIB_FIX_INTRINSIC <div class="python_language">Python: cv.CALIB_FIX_INTRINSIC</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa53709cea2e0d6129e99606fe3d27385e"></a>CALIB_SAME_FOCAL_LENGTH <div class="python_language">Python: cv.CALIB_SAME_FOCAL_LENGTH</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fae49985db1f4453c5dda1d701a3d8dd76"></a>CALIB_ZERO_DISPARITY <div class="python_language">Python: cv.CALIB_ZERO_DISPARITY</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa5c59485f1b5391cb3d7b2bfb1b7079a7"></a>CALIB_USE_LU <div class="python_language">Python: cv.CALIB_USE_LU</div></td><td class="fielddoc"><p>use LU instead of <a class="el" href="../../df/df7/classcv_1_1SVD.html" title="Singular Value Decomposition. ">SVD</a> decomposition for solving. much faster but potentially less precise </p>
</td></tr>
<tr><td class="fieldname"><a id="gga11738a219783c6dc7fdeb093a4a87c0fa9244b2193c7621bb8ceb402384534848"></a>CALIB_USE_EXTRINSIC_GUESS <div class="python_language">Python: cv.CALIB_USE_EXTRINSIC_GUESS</div></td><td class="fielddoc"><p>for stereoCalibrate </p>
</td></tr>
</table>
</div>
</div>
<a id="ga04495204613753c836e07d31c575bf3b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga04495204613753c836e07d31c575bf3b">◆ </a></span>anonymous enum</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">anonymous enum</td>
        </tr>
      </table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>the algorithm for finding fundamental matrix </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga04495204613753c836e07d31c575bf3ba8ccd232f3e7691efae984c76bb99e047"></a>FM_7POINT <div class="python_language">Python: cv.FM_7POINT</div></td><td class="fielddoc"><p>7-point algorithm </p>
</td></tr>
<tr><td class="fieldname"><a id="gga04495204613753c836e07d31c575bf3ba3960f8c87052a64c3297704db34aaedf"></a>FM_8POINT <div class="python_language">Python: cv.FM_8POINT</div></td><td class="fielddoc"><p>8-point algorithm </p>
</td></tr>
<tr><td class="fieldname"><a id="gga04495204613753c836e07d31c575bf3ba8a81ff35b40a5de086bc91dbc1ef8bba"></a>FM_LMEDS <div class="python_language">Python: cv.FM_LMEDS</div></td><td class="fielddoc"><p>least-median algorithm. 7-point algorithm is used. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga04495204613753c836e07d31c575bf3baeb30cc6b8fc94600bc04f16c14644fdd"></a>FM_RANSAC <div class="python_language">Python: cv.FM_RANSAC</div></td><td class="fielddoc"><p>RANSAC algorithm. It needs at least 15 points. 7-point algorithm is used. </p>
</td></tr>
</table>
</div>
</div>
<a id="gad10a5ef12ee3499a0774c7904a801b99"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gad10a5ef12ee3499a0774c7904a801b99">◆ </a></span>HandEyeCalibrationMethod</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="../../d9/d0c/group__calib3d.html#gad10a5ef12ee3499a0774c7904a801b99">cv::HandEyeCalibrationMethod</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ggad10a5ef12ee3499a0774c7904a801b99a249a50f4859fadba741271defd3db30b"></a>CALIB_HAND_EYE_TSAI <div class="python_language">Python: cv.CALIB_HAND_EYE_TSAI</div></td><td class="fielddoc"><p>A New Technique for Fully Autonomous and Efficient 3D Robotics Hand/Eye Calibration <a class="el" href="../../d0/de3/citelist.html#CITEREF_Tsai89">[250]</a>. </p>
</td></tr>
<tr><td class="fieldname"><a id="ggad10a5ef12ee3499a0774c7904a801b99aa3b05d3f9ee106ee5f288556baf15155"></a>CALIB_HAND_EYE_PARK <div class="python_language">Python: cv.CALIB_HAND_EYE_PARK</div></td><td class="fielddoc"><p>Robot Sensor Calibration: Solving AX = XB on the Euclidean Group <a class="el" href="../../d0/de3/citelist.html#CITEREF_Park94">[191]</a>. </p>
</td></tr>
<tr><td class="fieldname"><a id="ggad10a5ef12ee3499a0774c7904a801b99aa4b1d0a3d4fc3abffdfb2231dd4a8dec"></a>CALIB_HAND_EYE_HORAUD <div class="python_language">Python: cv.CALIB_HAND_EYE_HORAUD</div></td><td class="fielddoc"><p>Hand-eye Calibration <a class="el" href="../../d0/de3/citelist.html#CITEREF_Horaud95">[113]</a>. </p>
</td></tr>
<tr><td class="fieldname"><a id="ggad10a5ef12ee3499a0774c7904a801b99a285505dc178d562cba88cc6abe06dbaf"></a>CALIB_HAND_EYE_ANDREFF <div class="python_language">Python: cv.CALIB_HAND_EYE_ANDREFF</div></td><td class="fielddoc"><p>On-line Hand-Eye Calibration <a class="el" href="../../d0/de3/citelist.html#CITEREF_Andreff99">[11]</a>. </p>
</td></tr>
<tr><td class="fieldname"><a id="ggad10a5ef12ee3499a0774c7904a801b99ab7982ff0774f1aa2218401a0b5e1af48"></a>CALIB_HAND_EYE_DANIILIDIS <div class="python_language">Python: cv.CALIB_HAND_EYE_DANIILIDIS</div></td><td class="fielddoc"><p>Hand-Eye Calibration Using Dual Quaternions <a class="el" href="../../d0/de3/citelist.html#CITEREF_Daniilidis98">[52]</a>. </p>
</td></tr>
</table>
</div>
</div>
<a id="ga4a3d4c8cd630a8724f17016149dc9efa"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga4a3d4c8cd630a8724f17016149dc9efa">◆ </a></span>LocalOptimMethod</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="../../d9/d0c/group__calib3d.html#ga4a3d4c8cd630a8724f17016149dc9efa">cv::LocalOptimMethod</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga4a3d4c8cd630a8724f17016149dc9efaa8f621668306b232478a906bf7f459c33"></a>LOCAL_OPTIM_NULL <div class="python_language">Python: cv.LOCAL_OPTIM_NULL</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga4a3d4c8cd630a8724f17016149dc9efaa5ddc1004cfb23d8912998d28c264d045"></a>LOCAL_OPTIM_INNER_LO <div class="python_language">Python: cv.LOCAL_OPTIM_INNER_LO</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga4a3d4c8cd630a8724f17016149dc9efaad827aba5fc3b23247b90012bdf2d8080"></a>LOCAL_OPTIM_INNER_AND_ITER_LO <div class="python_language">Python: cv.LOCAL_OPTIM_INNER_AND_ITER_LO</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga4a3d4c8cd630a8724f17016149dc9efaad380df65015f597fed394a39b23b3976"></a>LOCAL_OPTIM_GC <div class="python_language">Python: cv.LOCAL_OPTIM_GC</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga4a3d4c8cd630a8724f17016149dc9efaaa98f00a584cd5e4d5f4a41f0625fa388"></a>LOCAL_OPTIM_SIGMA <div class="python_language">Python: cv.LOCAL_OPTIM_SIGMA</div></td><td class="fielddoc"></td></tr>
</table>
</div>
</div>
<a id="gad2338dbfeed74a31ec7379674ad7a903"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gad2338dbfeed74a31ec7379674ad7a903">◆ </a></span>NeighborSearchMethod</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="../../d9/d0c/group__calib3d.html#gad2338dbfeed74a31ec7379674ad7a903">cv::NeighborSearchMethod</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ggad2338dbfeed74a31ec7379674ad7a903a73d0b8467e2ab18cd341030ff1bcdcfd"></a>NEIGH_FLANN_KNN <div class="python_language">Python: cv.NEIGH_FLANN_KNN</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="ggad2338dbfeed74a31ec7379674ad7a903a71888727386563510c69eb25cce4dfe5"></a>NEIGH_GRID <div class="python_language">Python: cv.NEIGH_GRID</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="ggad2338dbfeed74a31ec7379674ad7a903a53ed629c1c3ca0b8844da3cfb59e1959"></a>NEIGH_FLANN_RADIUS <div class="python_language">Python: cv.NEIGH_FLANN_RADIUS</div></td><td class="fielddoc"></td></tr>
</table>
</div>
</div>
<a id="ga7874b7e33b597c56994974a7ee532285"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga7874b7e33b597c56994974a7ee532285">◆ </a></span>RobotWorldHandEyeCalibrationMethod</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="../../d9/d0c/group__calib3d.html#ga7874b7e33b597c56994974a7ee532285">cv::RobotWorldHandEyeCalibrationMethod</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga7874b7e33b597c56994974a7ee532285ae0401fdd318485c1789ac4a397e80692"></a>CALIB_ROBOT_WORLD_HAND_EYE_SHAH <div class="python_language">Python: cv.CALIB_ROBOT_WORLD_HAND_EYE_SHAH</div></td><td class="fielddoc"><p>Solving the robot-world/hand-eye calibration problem using the kronecker product <a class="el" href="../../d0/de3/citelist.html#CITEREF_Shah2013SolvingTR">[222]</a>. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga7874b7e33b597c56994974a7ee532285af07679eed156aa57dfa56a07e19dbc75"></a>CALIB_ROBOT_WORLD_HAND_EYE_LI <div class="python_language">Python: cv.CALIB_ROBOT_WORLD_HAND_EYE_LI</div></td><td class="fielddoc"><p>Simultaneous robot-world and hand-eye calibration using dual-quaternions and kronecker product <a class="el" href="../../d0/de3/citelist.html#CITEREF_Li2010SimultaneousRA">[144]</a>. </p>
</td></tr>
</table>
</div>
</div>
<a id="ga54c4be8bef336577b88fcced735cf9ea"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga54c4be8bef336577b88fcced735cf9ea">◆ </a></span>SamplingMethod</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="../../d9/d0c/group__calib3d.html#ga54c4be8bef336577b88fcced735cf9ea">cv::SamplingMethod</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga54c4be8bef336577b88fcced735cf9eaa8b96a9e35e90ccf3a973c52b9841aadf"></a>SAMPLING_UNIFORM <div class="python_language">Python: cv.SAMPLING_UNIFORM</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga54c4be8bef336577b88fcced735cf9eaad0659c39537a118e9e7c7aeacbdbb2a8"></a>SAMPLING_PROGRESSIVE_NAPSAC <div class="python_language">Python: cv.SAMPLING_PROGRESSIVE_NAPSAC</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga54c4be8bef336577b88fcced735cf9eaa8b4e1911af9298307ae90755b938888b"></a>SAMPLING_NAPSAC <div class="python_language">Python: cv.SAMPLING_NAPSAC</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga54c4be8bef336577b88fcced735cf9eaa4d620abc916e8a1fdff85542d7990b13"></a>SAMPLING_PROSAC <div class="python_language">Python: cv.SAMPLING_PROSAC</div></td><td class="fielddoc"></td></tr>
</table>
</div>
</div>
<a id="ga38100242449fe48bf9b7c107630020d6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga38100242449fe48bf9b7c107630020d6">◆ </a></span>ScoreMethod</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="../../d9/d0c/group__calib3d.html#ga38100242449fe48bf9b7c107630020d6">cv::ScoreMethod</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga38100242449fe48bf9b7c107630020d6a0a1e0f3cf62046824d0923c99082bd68"></a>SCORE_METHOD_RANSAC <div class="python_language">Python: cv.SCORE_METHOD_RANSAC</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga38100242449fe48bf9b7c107630020d6aacda8ba3b3c897547465cfe5f9d5d198"></a>SCORE_METHOD_MSAC <div class="python_language">Python: cv.SCORE_METHOD_MSAC</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga38100242449fe48bf9b7c107630020d6a5989d612d42518aeb83e7918c2687dc2"></a>SCORE_METHOD_MAGSAC <div class="python_language">Python: cv.SCORE_METHOD_MAGSAC</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga38100242449fe48bf9b7c107630020d6a549275f88e850bf4a276b5631023c80c"></a>SCORE_METHOD_LMEDS <div class="python_language">Python: cv.SCORE_METHOD_LMEDS</div></td><td class="fielddoc"></td></tr>
</table>
</div>
</div>
<a id="ga357634492a94efe8858d0ce1509da869"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga357634492a94efe8858d0ce1509da869">◆ </a></span>SolvePnPMethod</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="../../d9/d0c/group__calib3d.html#ga357634492a94efe8858d0ce1509da869">cv::SolvePnPMethod</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5"></a>SOLVEPNP_ITERATIVE <div class="python_language">Python: cv.SOLVEPNP_ITERATIVE</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="gga357634492a94efe8858d0ce1509da869ae25763f5155defc67ef0f68b74d6c074"></a>SOLVEPNP_EPNP <div class="python_language">Python: cv.SOLVEPNP_EPNP</div></td><td class="fielddoc"><p>EPnP: Efficient Perspective-n-Point Camera Pose Estimation <a class="el" href="../../d0/de3/citelist.html#CITEREF_lepetit2009epnp">[139]</a>. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a"></a>SOLVEPNP_P3P <div class="python_language">Python: cv.SOLVEPNP_P3P</div></td><td class="fielddoc"><p>Complete Solution Classification for the Perspective-Three-Point Problem <a class="el" href="../../d0/de3/citelist.html#CITEREF_gao2003complete">[84]</a>. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga357634492a94efe8858d0ce1509da869aa51f13248282b8778003b9a4cf8ac07e"></a>SOLVEPNP_DLS <div class="python_language">Python: cv.SOLVEPNP_DLS</div></td><td class="fielddoc"><p><b>Broken implementation. Using this flag will fallback to EPnP.</b> <br/>
 A Direct Least-Squares (DLS) Method for PnP <a class="el" href="../../d0/de3/citelist.html#CITEREF_hesch2011direct">[110]</a> </p>
</td></tr>
<tr><td class="fieldname"><a id="gga357634492a94efe8858d0ce1509da869a2859c9ce1430662096d3cc3b5462847f"></a>SOLVEPNP_UPNP <div class="python_language">Python: cv.SOLVEPNP_UPNP</div></td><td class="fielddoc"><p><b>Broken implementation. Using this flag will fallback to EPnP.</b> <br/>
 Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation <a class="el" href="../../d0/de3/citelist.html#CITEREF_penate2013exhaustive">[192]</a> </p>
</td></tr>
<tr><td class="fieldname"><a id="gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9"></a>SOLVEPNP_AP3P <div class="python_language">Python: cv.SOLVEPNP_AP3P</div></td><td class="fielddoc"><p>An Efficient Algebraic Solution to the Perspective-Three-Point Problem <a class="el" href="../../d0/de3/citelist.html#CITEREF_Ke17">[127]</a>. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga357634492a94efe8858d0ce1509da869acbd7d9f9513a22a59412661a9d31ca3d"></a>SOLVEPNP_IPPE <div class="python_language">Python: cv.SOLVEPNP_IPPE</div></td><td class="fielddoc"><p>Infinitesimal Plane-Based Pose Estimation <a class="el" href="../../d0/de3/citelist.html#CITEREF_Collins14">[48]</a> <br/>
 Object points must be coplanar. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga357634492a94efe8858d0ce1509da869ac5d28b2805d3ac32fd477eee4479406f"></a>SOLVEPNP_IPPE_SQUARE <div class="python_language">Python: cv.SOLVEPNP_IPPE_SQUARE</div></td><td class="fielddoc"><p>Infinitesimal Plane-Based Pose Estimation <a class="el" href="../../d0/de3/citelist.html#CITEREF_Collins14">[48]</a> <br/>
 This is a special case suitable for marker pose estimation.<br/>
 4 coplanar object points must be defined in the following order:</p><ul>
<li>point 0: [-squareLength / 2, squareLength / 2, 0]</li>
<li>point 1: [ squareLength / 2, squareLength / 2, 0]</li>
<li>point 2: [ squareLength / 2, -squareLength / 2, 0]</li>
<li>point 3: [-squareLength / 2, -squareLength / 2, 0] </li>
</ul>
</td></tr>
<tr><td class="fieldname"><a id="gga357634492a94efe8858d0ce1509da869a9229a3332f6c4969251c31d2931b0729"></a>SOLVEPNP_SQPNP <div class="python_language">Python: cv.SOLVEPNP_SQPNP</div></td><td class="fielddoc"><p>SQPnP: A Consistently Fast and Globally OptimalSolution to the Perspective-n-Point Problem <a class="el" href="../../d0/de3/citelist.html#CITEREF_Terzakis20">[244]</a>. </p>
</td></tr>
</table>
</div>
</div>
<a id="gace497823594b601f2094d32dde6a3c94"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gace497823594b601f2094d32dde6a3c94">◆ </a></span>UndistortTypes</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="../../d9/d0c/group__calib3d.html#gace497823594b601f2094d32dde6a3c94">cv::UndistortTypes</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p><a class="el" href="../../d9/d0c/group__calib3d.html#ga69f2545a8b62a6b0fc2ee060dc30559d" title="Transforms an image to compensate for lens distortion. ">cv::undistort</a> mode </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ggace497823594b601f2094d32dde6a3c94aad55e201c84b7c538455a69153d5e676"></a>PROJ_SPHERICAL_ORTHO <div class="python_language">Python: cv.PROJ_SPHERICAL_ORTHO</div></td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="ggace497823594b601f2094d32dde6a3c94a62d8708c29117854d6903d8e1155d8c0"></a>PROJ_SPHERICAL_EQRECT <div class="python_language">Python: cv.PROJ_SPHERICAL_EQRECT</div></td><td class="fielddoc"></td></tr>
</table>
</div>
</div>
<h2 class="groupheader">Function Documentation</h2>
<a id="ga3207604e4b1a1758aa66acb6ed5aa65d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga3207604e4b1a1758aa66acb6ed5aa65d">◆ </a></span>calibrateCamera() <span class="overload">[1/2]</span></h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">double cv::calibrateCamera </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>rvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>tvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>stdDeviationsIntrinsics</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>stdDeviationsExtrinsics</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>perViewErrors</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code>0</code>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> </td>
          <td class="paramname"><em>criteria</em> = <code><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, DBL_EPSILON)</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix, distCoeffs, rvecs, tvecs</td><td>=</td><td>cv.calibrateCamera(</td><td class="paramname">objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs[, rvecs[, tvecs[, flags[, criteria]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix, distCoeffs, rvecs, tvecs, stdDeviationsIntrinsics, stdDeviationsExtrinsics, perViewErrors</td><td>=</td><td>cv.calibrateCameraExtended(</td><td class="paramname">objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs[, rvecs[, tvecs[, stdDeviationsIntrinsics[, stdDeviationsExtrinsics[, perViewErrors[, flags[, criteria]]]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>In the new interface it is a vector of vectors of calibration pattern points in the calibration pattern coordinate space (e.g. std::vector&lt;std::vector&lt;cv::Vec3f&gt;&gt;). The outer vector contains as many elements as the number of pattern views. If the same calibration pattern is shown in each view and it is fully visible, all the vectors will be the same. Although, it is possible to use partially occluded patterns or even different patterns in different views. Then, the vectors will be different. Although the points are 3D, they all lie in the calibration pattern's XY coordinate plane (thus 0 in the Z-coordinate), if the used calibration pattern is a planar rig. In the old interface all the vectors of object points from different views are concatenated together. </td></tr>
    <tr><td class="paramname">imagePoints</td><td>In the new interface it is a vector of vectors of the projections of calibration pattern points (e.g. std::vector&lt;std::vector&lt;cv::Vec2f&gt;&gt;). <a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">imagePoints.size()</a> and <a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">objectPoints.size()</a>, and imagePoints[i].<a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">size()</a> and objectPoints[i].<a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">size()</a> for each i, must be equal, respectively. In the old interface all the vectors of object points from different views are concatenated together. </td></tr>
    <tr><td class="paramname">imageSize</td><td>Size of the image used only to initialize the camera intrinsic matrix. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Input/output 3x3 floating-point camera intrinsic matrix \(\cameramatrix{A}\) . If <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> and/or <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa131c3576ad5c96991adea3a133b6ce65">CALIB_FIX_ASPECT_RATIO</a> are specified, some or all of fx, fy, cx, cy must be initialized before calling the function. </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input/output vector of distortion coefficients \(\distcoeffs\). </td></tr>
    <tr><td class="paramname">rvecs</td><td>Output vector of rotation vectors (<a class="el" href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">Rodrigues</a> ) estimated for each pattern view (e.g. std::vector&lt;cv::Mat&gt;&gt;). That is, each i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter description) brings the calibration pattern from the object coordinate space (in which object points are specified) to the camera coordinate space. In more technical terms, the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space to camera coordinate space. Due to its duality, this tuple is equivalent to the position of the calibration pattern with respect to the camera coordinate space. </td></tr>
    <tr><td class="paramname">tvecs</td><td>Output vector of translation vectors estimated for each pattern view, see parameter describtion above. </td></tr>
    <tr><td class="paramname">stdDeviationsIntrinsics</td><td>Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero. </td></tr>
    <tr><td class="paramname">stdDeviationsExtrinsics</td><td>Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: \((R_0, T_0, \dotsc , R_{M - 1}, T_{M - 1})\) where M is the number of pattern views. \(R_i, T_i\) are concatenated 1x3 vectors. </td></tr>
    <tr><td class="paramname">perViewErrors</td><td>Output vector of the RMS re-projection error estimated for each pattern view. </td></tr>
    <tr><td class="paramname">flags</td><td>Different flags that may be zero or a combination of the following values:<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> cameraMatrix contains valid initial values of fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image center ( imageSize is used), and focal distances are computed in a least-squares fashion. Note, that if intrinsic parameters are known, there is no need to use this function just to estimate extrinsic parameters. Use solvePnP instead.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa564091bdcc5ab14785f185e16430ff62">CALIB_FIX_PRINCIPAL_POINT</a> The principal point is not changed during the global optimization. It stays at the center or at a different location specified when <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> is set too.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa131c3576ad5c96991adea3a133b6ce65">CALIB_FIX_ASPECT_RATIO</a> The functions consider only fy as a free parameter. The ratio fx/fy stays the same as in the input cameraMatrix . When <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> is not set, the actual input values of fx and fy are ignored, only their ratio is computed and used further.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa769b5792d4e9c4ae073eaf317aec73ef">CALIB_ZERO_TANGENT_DIST</a> Tangential distortion coefficients \((p_1, p_2)\) are set to zeros and stay zero.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fab4ac5ea2d2f2636ca8a384a5b717dd35">CALIB_FIX_K1</a>,..., <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa7d57502505ca433b25116aebadf33088">CALIB_FIX_K6</a> The corresponding radial distortion coefficient is not changed during the optimization. If <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa204766e24f2e413e7a7c9f8b9e93f16c">CALIB_RATIONAL_MODEL</a> Coefficients k4, k5, and k6 are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the rational model and return 8 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0faa4ae44ce7bb854eabac902587af4dbe7">CALIB_THIN_PRISM_MODEL</a> Coefficients s1, s2, s3 and s4 are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the thin prism model and return 12 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fac148a479e5098f8ebfa49343a247280a">CALIB_FIX_S1_S2_S3_S4</a> The thin prism distortion coefficients are not changed during the optimization. If <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fac87f64a9ebe7c605bc8e4dd6e355528d">CALIB_TILTED_MODEL</a> Coefficients tauX and tauY are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the tilted sensor model and return 14 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa2c39f08cc098e2a79b13dfbad4e59317">CALIB_FIX_TAUX_TAUY</a> The coefficients of the tilted sensor model are not changed during the optimization. If <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0. </li>
</ul>
</td></tr>
    <tr><td class="paramname">criteria</td><td>Termination criteria for the iterative optimization algorithm.</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the overall RMS re-projection error.</dd></dl>
<p>The function estimates the intrinsic camera parameters and extrinsic parameters for each of the views. The algorithm is based on <a class="el" href="../../d0/de3/citelist.html#CITEREF_Zhang2000">[293]</a> and <a class="el" href="../../d0/de3/citelist.html#CITEREF_BouguetMCT">[31]</a> . The coordinates of 3D object points and their corresponding 2D projections in each view must be specified. That may be achieved by using an object with known geometry and easily detectable feature points. Such an object is called a calibration rig or calibration pattern, and OpenCV has built-in support for a chessboard as a calibration rig (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a">findChessboardCorners</a>). Currently, initialization of intrinsic parameters (when <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> is not set) is only implemented for planar calibration patterns (where Z-coordinates of the object points must be all zeros). 3D calibration rigs can also be used as long as initial cameraMatrix is provided.</p>
<p>The algorithm performs the following steps:</p>
<ul>
<li>Compute the initial intrinsic parameters (the option only available for planar calibration patterns) or read them from the input parameters. The distortion coefficients are all set to zeros initially unless some of CALIB_FIX_K? are specified.</li>
<li>Estimate the initial camera pose as if the intrinsic parameters have been already known. This is done using solvePnP .</li>
<li>Run the global Levenberg-Marquardt optimization algorithm to minimize the reprojection error, that is, the total sum of squared distances between the observed feature points imagePoints and the projected (using the current estimates for camera parameters and the poses) object points objectPoints. See projectPoints for details.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>If you use a non-square (i.e. non-N-by-N) grid and <a class="el" href="../../d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a">findChessboardCorners</a> for calibration, and <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">calibrateCamera</a> returns bad values (zero distortion coefficients, \(c_x\) and \(c_y\) very far from the image center, and/or large differences between \(f_x\) and \(f_y\) (ratios of 10:1 or more)), then you are probably using patternSize=cvSize(rows,cols) instead of using patternSize=cvSize(cols,rows) in <a class="el" href="../../d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a">findChessboardCorners</a>.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d0c/group__calib3d.html#ga11eeb16e5a458e1ed382fb27f585b753" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCameraRO</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a" title="Finds the positions of internal corners of the chessboard. ">findChessboardCorners</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d" title="Finds an object pose from 3D-2D point correspondences. This function returns the rotation and the tra...">solvePnP</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga8132c7dbbb61738cc3510bebbdffde55" title="Finds an initial camera intrinsic matrix from 3D-2D point correspondences. ">initCameraMatrix2D</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga91018d80e2a93ade37539f01e6f07de5" title="Calibrates a stereo camera set up. This function finds the intrinsic parameters for each of the two c...">stereoCalibrate</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga69f2545a8b62a6b0fc2ee060dc30559d" title="Transforms an image to compensate for lens distortion. ">undistort</a> </dd></dl>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga687a1ab946686f0d85ae0363b5af1d7b">◆ </a></span>calibrateCamera() <span class="overload">[2/2]</span></h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double cv::calibrateCamera </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>rvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>tvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> </td>
          <td class="paramname"><em>criteria</em> = <code><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, DBL_EPSILON)</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix, distCoeffs, rvecs, tvecs</td><td>=</td><td>cv.calibrateCamera(</td><td class="paramname">objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs[, rvecs[, tvecs[, flags[, criteria]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix, distCoeffs, rvecs, tvecs, stdDeviationsIntrinsics, stdDeviationsExtrinsics, perViewErrors</td><td>=</td><td>cv.calibrateCameraExtended(</td><td class="paramname">objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs[, rvecs[, tvecs[, stdDeviationsIntrinsics[, stdDeviationsExtrinsics[, perViewErrors[, flags[, criteria]]]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga11eeb16e5a458e1ed382fb27f585b753">◆ </a></span>calibrateCameraRO() <span class="overload">[1/2]</span></h2>
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          <td class="memname">double cv::calibrateCameraRO </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>iFixedPoint</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>rvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>tvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>newObjPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>stdDeviationsIntrinsics</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>stdDeviationsExtrinsics</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>stdDeviationsObjPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>perViewErrors</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> </td>
          <td class="paramname"><em>criteria</em> = <code><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, DBL_EPSILON)</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix, distCoeffs, rvecs, tvecs, newObjPoints</td><td>=</td><td>cv.calibrateCameraRO(</td><td class="paramname">objectPoints, imagePoints, imageSize, iFixedPoint, cameraMatrix, distCoeffs[, rvecs[, tvecs[, newObjPoints[, flags[, criteria]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix, distCoeffs, rvecs, tvecs, newObjPoints, stdDeviationsIntrinsics, stdDeviationsExtrinsics, stdDeviationsObjPoints, perViewErrors</td><td>=</td><td>cv.calibrateCameraROExtended(</td><td class="paramname">objectPoints, imagePoints, imageSize, iFixedPoint, cameraMatrix, distCoeffs[, rvecs[, tvecs[, newObjPoints[, stdDeviationsIntrinsics[, stdDeviationsExtrinsics[, stdDeviationsObjPoints[, perViewErrors[, flags[, criteria]]]]]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern. </p>
<p>This function is an extension of <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> with the method of releasing object which was proposed in <a class="el" href="../../d0/de3/citelist.html#CITEREF_strobl2011iccv">[232]</a>. In many common cases with inaccurate, unmeasured, roughly planar targets (calibration plates), this method can dramatically improve the precision of the estimated camera parameters. Both the object-releasing method and standard method are supported by this function. Use the parameter <b>iFixedPoint</b> for method selection. In the internal implementation, <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> is a wrapper for this function.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>Vector of vectors of calibration pattern points in the calibration pattern coordinate space. See <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> for details. If the method of releasing object to be used, the identical calibration board must be used in each view and it must be fully visible, and all objectPoints[i] must be the same and all points should be roughly close to a plane. <b>The calibration target has to be rigid, or at least static if the camera (rather than the calibration target) is shifted for grabbing images.</b> </td></tr>
    <tr><td class="paramname">imagePoints</td><td>Vector of vectors of the projections of calibration pattern points. See <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> for details. </td></tr>
    <tr><td class="paramname">imageSize</td><td>Size of the image used only to initialize the intrinsic camera matrix. </td></tr>
    <tr><td class="paramname">iFixedPoint</td><td>The index of the 3D object point in objectPoints[0] to be fixed. It also acts as a switch for calibration method selection. If object-releasing method to be used, pass in the parameter in the range of [1, objectPoints[0].<a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">size()</a>-2], otherwise a value out of this range will make standard calibration method selected. Usually the top-right corner point of the calibration board grid is recommended to be fixed when object-releasing method being utilized. According to <a class="el" href="../../d0/de3/citelist.html#CITEREF_strobl2011iccv">[232]</a>, two other points are also fixed. In this implementation, objectPoints[0].front and objectPoints[0].back.z are used. With object-releasing method, accurate rvecs, tvecs and newObjPoints are only possible if coordinates of these three fixed points are accurate enough. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Output 3x3 floating-point camera matrix. See <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> for details. </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Output vector of distortion coefficients. See <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> for details. </td></tr>
    <tr><td class="paramname">rvecs</td><td>Output vector of rotation vectors estimated for each pattern view. See <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> for details. </td></tr>
    <tr><td class="paramname">tvecs</td><td>Output vector of translation vectors estimated for each pattern view. </td></tr>
    <tr><td class="paramname">newObjPoints</td><td>The updated output vector of calibration pattern points. The coordinates might be scaled based on three fixed points. The returned coordinates are accurate only if the above mentioned three fixed points are accurate. If not needed, <a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray()</a> can be passed in. This parameter is ignored with standard calibration method. </td></tr>
    <tr><td class="paramname">stdDeviationsIntrinsics</td><td>Output vector of standard deviations estimated for intrinsic parameters. See <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> for details. </td></tr>
    <tr><td class="paramname">stdDeviationsExtrinsics</td><td>Output vector of standard deviations estimated for extrinsic parameters. See <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> for details. </td></tr>
    <tr><td class="paramname">stdDeviationsObjPoints</td><td>Output vector of standard deviations estimated for refined coordinates of calibration pattern points. It has the same size and order as objectPoints[0] vector. This parameter is ignored with standard calibration method. </td></tr>
    <tr><td class="paramname">perViewErrors</td><td>Output vector of the RMS re-projection error estimated for each pattern view. </td></tr>
    <tr><td class="paramname">flags</td><td>Different flags that may be zero or a combination of some predefined values. See <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> for details. If the method of releasing object is used, the calibration time may be much longer. CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases. </td></tr>
    <tr><td class="paramname">criteria</td><td>Termination criteria for the iterative optimization algorithm.</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the overall RMS re-projection error.</dd></dl>
<p>The function estimates the intrinsic camera parameters and extrinsic parameters for each of the views. The algorithm is based on <a class="el" href="../../d0/de3/citelist.html#CITEREF_Zhang2000">[293]</a>, <a class="el" href="../../d0/de3/citelist.html#CITEREF_BouguetMCT">[31]</a> and <a class="el" href="../../d0/de3/citelist.html#CITEREF_strobl2011iccv">[232]</a>. See <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera()</a> for other detailed explanations. </p><dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a" title="Finds the positions of internal corners of the chessboard. ">findChessboardCorners</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d" title="Finds an object pose from 3D-2D point correspondences. This function returns the rotation and the tra...">solvePnP</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga8132c7dbbb61738cc3510bebbdffde55" title="Finds an initial camera intrinsic matrix from 3D-2D point correspondences. ">initCameraMatrix2D</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga91018d80e2a93ade37539f01e6f07de5" title="Calibrates a stereo camera set up. This function finds the intrinsic parameters for each of the two c...">stereoCalibrate</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga69f2545a8b62a6b0fc2ee060dc30559d" title="Transforms an image to compensate for lens distortion. ">undistort</a> </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#gacb6b35670216b24b67c70fcd21519ead">◆ </a></span>calibrateCameraRO() <span class="overload">[2/2]</span></h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double cv::calibrateCameraRO </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>iFixedPoint</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>rvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>tvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>newObjPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> </td>
          <td class="paramname"><em>criteria</em> = <code><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, DBL_EPSILON)</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix, distCoeffs, rvecs, tvecs, newObjPoints</td><td>=</td><td>cv.calibrateCameraRO(</td><td class="paramname">objectPoints, imagePoints, imageSize, iFixedPoint, cameraMatrix, distCoeffs[, rvecs[, tvecs[, newObjPoints[, flags[, criteria]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix, distCoeffs, rvecs, tvecs, newObjPoints, stdDeviationsIntrinsics, stdDeviationsExtrinsics, stdDeviationsObjPoints, perViewErrors</td><td>=</td><td>cv.calibrateCameraROExtended(</td><td class="paramname">objectPoints, imagePoints, imageSize, iFixedPoint, cameraMatrix, distCoeffs[, rvecs[, tvecs[, newObjPoints[, stdDeviationsIntrinsics[, stdDeviationsExtrinsics[, stdDeviationsObjPoints[, perViewErrors[, flags[, criteria]]]]]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
</div>
</div>
<a id="gaebfc1c9f7434196a374c382abf43439b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gaebfc1c9f7434196a374c382abf43439b">◆ </a></span>calibrateHandEye()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::calibrateHandEye </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>R_gripper2base</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>t_gripper2base</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>R_target2cam</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>t_target2cam</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R_cam2gripper</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>t_cam2gripper</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d0c/group__calib3d.html#gad10a5ef12ee3499a0774c7904a801b99">HandEyeCalibrationMethod</a> </td>
          <td class="paramname"><em>method</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#ggad10a5ef12ee3499a0774c7904a801b99a249a50f4859fadba741271defd3db30b">CALIB_HAND_EYE_TSAI</a></code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>R_cam2gripper, t_cam2gripper</td><td>=</td><td>cv.calibrateHandEye(</td><td class="paramname">R_gripper2base, t_gripper2base, R_target2cam, t_target2cam[, R_cam2gripper[, t_cam2gripper[, method]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes Hand-Eye calibration: \(_{}^{g}\textrm{T}_c\). </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">R_gripper2base</td><td>Rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame ( \(_{}^{b}\textrm{T}_g\)). This is a vector (<code>vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html" title="n-dimensional dense array class ">Mat</a>&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors, for all the transformations from gripper frame to robot base frame. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">t_gripper2base</td><td>Translation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame ( \(_{}^{b}\textrm{T}_g\)). This is a vector (<code>vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html" title="n-dimensional dense array class ">Mat</a>&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations from gripper frame to robot base frame. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">R_target2cam</td><td>Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame ( \(_{}^{c}\textrm{T}_t\)). This is a vector (<code>vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html" title="n-dimensional dense array class ">Mat</a>&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors, for all the transformations from calibration target frame to camera frame. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">t_target2cam</td><td>Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame ( \(_{}^{c}\textrm{T}_t\)). This is a vector (<code>vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html" title="n-dimensional dense array class ">Mat</a>&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations from calibration target frame to camera frame. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">R_cam2gripper</td><td>Estimated <code>(3x3)</code> rotation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame ( \(_{}^{g}\textrm{T}_c\)). </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">t_cam2gripper</td><td>Estimated <code>(3x1)</code> translation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame ( \(_{}^{g}\textrm{T}_c\)). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">method</td><td>One of the implemented Hand-Eye calibration method, see <a class="el" href="../../d9/d0c/group__calib3d.html#gad10a5ef12ee3499a0774c7904a801b99">cv::HandEyeCalibrationMethod</a></td></tr>
  </table>
  </dd>
</dl>
<p>The function performs the Hand-Eye calibration using various methods. One approach consists in estimating the rotation then the translation (separable solutions) and the following methods are implemented:</p><ul>
<li>R. Tsai, R. Lenz A New Technique for Fully Autonomous and Efficient 3D Robotics Hand/EyeCalibration <a class="el" href="../../d0/de3/citelist.html#CITEREF_Tsai89">[250]</a></li>
<li>F. Park, B. Martin Robot Sensor Calibration: Solving AX = XB on the Euclidean Group <a class="el" href="../../d0/de3/citelist.html#CITEREF_Park94">[191]</a></li>
<li>R. Horaud, F. Dornaika Hand-Eye Calibration <a class="el" href="../../d0/de3/citelist.html#CITEREF_Horaud95">[113]</a></li>
</ul>
<p>Another approach consists in estimating simultaneously the rotation and the translation (simultaneous solutions), with the following implemented methods:</p><ul>
<li>N. Andreff, R. Horaud, B. Espiau On-line Hand-Eye Calibration <a class="el" href="../../d0/de3/citelist.html#CITEREF_Andreff99">[11]</a></li>
<li>K. Daniilidis Hand-Eye Calibration Using Dual Quaternions <a class="el" href="../../d0/de3/citelist.html#CITEREF_Daniilidis98">[52]</a></li>
</ul>
<p>The following picture describes the Hand-Eye calibration problem where the transformation between a camera ("eye") mounted on a robot gripper ("hand") has to be estimated. This configuration is called eye-in-hand.</p>
<p>The eye-to-hand configuration consists in a static camera observing a calibration pattern mounted on the robot end-effector. The transformation from the camera to the robot base frame can then be estimated by inputting the suitable transformations to the function, see below.</p>
<div class="image">
<img alt="hand-eye_figure.png" src="../../hand-eye_figure.png"/>
</div>
<p>The calibration procedure is the following:</p><ul>
<li>a static calibration pattern is used to estimate the transformation between the target frame and the camera frame</li>
<li>the robot gripper is moved in order to acquire several poses</li>
<li>for each pose, the homogeneous transformation between the gripper frame and the robot base frame is recorded using for instance the robot kinematics <p class="formulaDsp">
\[ \begin{bmatrix} X_b\\ Y_b\\ Z_b\\ 1 \end{bmatrix} = \begin{bmatrix} _{}^{b}\textrm{R}_g &amp; _{}^{b}\textrm{t}_g \\ 0_{1 \times 3} &amp; 1 \end{bmatrix} \begin{bmatrix} X_g\\ Y_g\\ Z_g\\ 1 \end{bmatrix} \]
</p>
</li>
<li>for each pose, the homogeneous transformation between the calibration target frame and the camera frame is recorded using for instance a pose estimation method (PnP) from 2D-3D point correspondences <p class="formulaDsp">
\[ \begin{bmatrix} X_c\\ Y_c\\ Z_c\\ 1 \end{bmatrix} = \begin{bmatrix} _{}^{c}\textrm{R}_t &amp; _{}^{c}\textrm{t}_t \\ 0_{1 \times 3} &amp; 1 \end{bmatrix} \begin{bmatrix} X_t\\ Y_t\\ Z_t\\ 1 \end{bmatrix} \]
</p>
</li>
</ul>
<p>The Hand-Eye calibration procedure returns the following homogeneous transformation </p><p class="formulaDsp">
\[ \begin{bmatrix} X_g\\ Y_g\\ Z_g\\ 1 \end{bmatrix} = \begin{bmatrix} _{}^{g}\textrm{R}_c &amp; _{}^{g}\textrm{t}_c \\ 0_{1 \times 3} &amp; 1 \end{bmatrix} \begin{bmatrix} X_c\\ Y_c\\ Z_c\\ 1 \end{bmatrix} \]
</p>
<p>This problem is also known as solving the \(\mathbf{A}\mathbf{X}=\mathbf{X}\mathbf{B}\) equation:</p><ul>
<li>for an eye-in-hand configuration <p class="formulaDsp">
\[ \begin{align*} ^{b}{\textrm{T}_g}^{(1)} \hspace{0.2em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(1)} &amp;= \hspace{0.1em} ^{b}{\textrm{T}_g}^{(2)} \hspace{0.2em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} \\ (^{b}{\textrm{T}_g}^{(2)})^{-1} \hspace{0.2em} ^{b}{\textrm{T}_g}^{(1)} \hspace{0.2em} ^{g}\textrm{T}_c &amp;= \hspace{0.1em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} (^{c}{\textrm{T}_t}^{(1)})^{-1} \\ \textrm{A}_i \textrm{X} &amp;= \textrm{X} \textrm{B}_i \\ \end{align*} \]
</p>
</li>
<li>for an eye-to-hand configuration <p class="formulaDsp">
\[ \begin{align*} ^{g}{\textrm{T}_b}^{(1)} \hspace{0.2em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(1)} &amp;= \hspace{0.1em} ^{g}{\textrm{T}_b}^{(2)} \hspace{0.2em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} \\ (^{g}{\textrm{T}_b}^{(2)})^{-1} \hspace{0.2em} ^{g}{\textrm{T}_b}^{(1)} \hspace{0.2em} ^{b}\textrm{T}_c &amp;= \hspace{0.1em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} (^{c}{\textrm{T}_t}^{(1)})^{-1} \\ \textrm{A}_i \textrm{X} &amp;= \textrm{X} \textrm{B}_i \\ \end{align*} \]
</p>
</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>Additional information can be found on this <a href="http://campar.in.tum.de/Chair/HandEyeCalibration">website</a>. </dd>
<dd>
A minimum of 2 motions with non parallel rotation axes are necessary to determine the hand-eye transformation. So at least 3 different poses are required, but it is strongly recommended to use many more poses. </dd></dl>
</div>
</div>
<a id="ga41b1a8dd70eae371eba707d101729c36"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga41b1a8dd70eae371eba707d101729c36">◆ </a></span>calibrateRobotWorldHandEye()</h2>
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      <table class="memname">
        <tr>
          <td class="memname">void cv::calibrateRobotWorldHandEye </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>R_world2cam</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>t_world2cam</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>R_base2gripper</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>t_base2gripper</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R_base2world</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>t_base2world</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R_gripper2cam</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>t_gripper2cam</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d0c/group__calib3d.html#ga7874b7e33b597c56994974a7ee532285">RobotWorldHandEyeCalibrationMethod</a> </td>
          <td class="paramname"><em>method</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga7874b7e33b597c56994974a7ee532285ae0401fdd318485c1789ac4a397e80692">CALIB_ROBOT_WORLD_HAND_EYE_SHAH</a></code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>R_base2world, t_base2world, R_gripper2cam, t_gripper2cam</td><td>=</td><td>cv.calibrateRobotWorldHandEye(</td><td class="paramname">R_world2cam, t_world2cam, R_base2gripper, t_base2gripper[, R_base2world[, t_base2world[, R_gripper2cam[, t_gripper2cam[, method]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes Robot-World/Hand-Eye calibration: \(_{}^{w}\textrm{T}_b\) and \(_{}^{c}\textrm{T}_g\). </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">R_world2cam</td><td>Rotation part extracted from the homogeneous matrix that transforms a point expressed in the world frame to the camera frame ( \(_{}^{c}\textrm{T}_w\)). This is a vector (<code>vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html" title="n-dimensional dense array class ">Mat</a>&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors, for all the transformations from world frame to the camera frame. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">t_world2cam</td><td>Translation part extracted from the homogeneous matrix that transforms a point expressed in the world frame to the camera frame ( \(_{}^{c}\textrm{T}_w\)). This is a vector (<code>vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html" title="n-dimensional dense array class ">Mat</a>&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations from world frame to the camera frame. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">R_base2gripper</td><td>Rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the gripper frame ( \(_{}^{g}\textrm{T}_b\)). This is a vector (<code>vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html" title="n-dimensional dense array class ">Mat</a>&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors, for all the transformations from robot base frame to the gripper frame. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">t_base2gripper</td><td>Rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the gripper frame ( \(_{}^{g}\textrm{T}_b\)). This is a vector (<code>vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html" title="n-dimensional dense array class ">Mat</a>&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations from robot base frame to the gripper frame. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">R_base2world</td><td>Estimated <code>(3x3)</code> rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the world frame ( \(_{}^{w}\textrm{T}_b\)). </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">t_base2world</td><td>Estimated <code>(3x1)</code> translation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the world frame ( \(_{}^{w}\textrm{T}_b\)). </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">R_gripper2cam</td><td>Estimated <code>(3x3)</code> rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the camera frame ( \(_{}^{c}\textrm{T}_g\)). </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">t_gripper2cam</td><td>Estimated <code>(3x1)</code> translation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the camera frame ( \(_{}^{c}\textrm{T}_g\)). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">method</td><td>One of the implemented Robot-World/Hand-Eye calibration method, see <a class="el" href="../../d9/d0c/group__calib3d.html#ga7874b7e33b597c56994974a7ee532285">cv::RobotWorldHandEyeCalibrationMethod</a></td></tr>
  </table>
  </dd>
</dl>
<p>The function performs the Robot-World/Hand-Eye calibration using various methods. One approach consists in estimating the rotation then the translation (separable solutions):</p><ul>
<li>M. Shah, Solving the robot-world/hand-eye calibration problem using the kronecker product <a class="el" href="../../d0/de3/citelist.html#CITEREF_Shah2013SolvingTR">[222]</a></li>
</ul>
<p>Another approach consists in estimating simultaneously the rotation and the translation (simultaneous solutions), with the following implemented method:</p><ul>
<li>A. Li, L. Wang, and D. Wu, Simultaneous robot-world and hand-eye calibration using dual-quaternions and kronecker product <a class="el" href="../../d0/de3/citelist.html#CITEREF_Li2010SimultaneousRA">[144]</a></li>
</ul>
<p>The following picture describes the Robot-World/Hand-Eye calibration problem where the transformations between a robot and a world frame and between a robot gripper ("hand") and a camera ("eye") mounted at the robot end-effector have to be estimated.</p>
<div class="image">
<img alt="robot-world_hand-eye_figure.png" src="../../robot-world_hand-eye_figure.png"/>
</div>
<p>The calibration procedure is the following:</p><ul>
<li>a static calibration pattern is used to estimate the transformation between the target frame and the camera frame</li>
<li>the robot gripper is moved in order to acquire several poses</li>
<li>for each pose, the homogeneous transformation between the gripper frame and the robot base frame is recorded using for instance the robot kinematics <p class="formulaDsp">
\[ \begin{bmatrix} X_g\\ Y_g\\ Z_g\\ 1 \end{bmatrix} = \begin{bmatrix} _{}^{g}\textrm{R}_b &amp; _{}^{g}\textrm{t}_b \\ 0_{1 \times 3} &amp; 1 \end{bmatrix} \begin{bmatrix} X_b\\ Y_b\\ Z_b\\ 1 \end{bmatrix} \]
</p>
</li>
<li>for each pose, the homogeneous transformation between the calibration target frame (the world frame) and the camera frame is recorded using for instance a pose estimation method (PnP) from 2D-3D point correspondences <p class="formulaDsp">
\[ \begin{bmatrix} X_c\\ Y_c\\ Z_c\\ 1 \end{bmatrix} = \begin{bmatrix} _{}^{c}\textrm{R}_w &amp; _{}^{c}\textrm{t}_w \\ 0_{1 \times 3} &amp; 1 \end{bmatrix} \begin{bmatrix} X_w\\ Y_w\\ Z_w\\ 1 \end{bmatrix} \]
</p>
</li>
</ul>
<p>The Robot-World/Hand-Eye calibration procedure returns the following homogeneous transformations </p><p class="formulaDsp">
\[ \begin{bmatrix} X_w\\ Y_w\\ Z_w\\ 1 \end{bmatrix} = \begin{bmatrix} _{}^{w}\textrm{R}_b &amp; _{}^{w}\textrm{t}_b \\ 0_{1 \times 3} &amp; 1 \end{bmatrix} \begin{bmatrix} X_b\\ Y_b\\ Z_b\\ 1 \end{bmatrix} \]
</p>
 <p class="formulaDsp">
\[ \begin{bmatrix} X_c\\ Y_c\\ Z_c\\ 1 \end{bmatrix} = \begin{bmatrix} _{}^{c}\textrm{R}_g &amp; _{}^{c}\textrm{t}_g \\ 0_{1 \times 3} &amp; 1 \end{bmatrix} \begin{bmatrix} X_g\\ Y_g\\ Z_g\\ 1 \end{bmatrix} \]
</p>
<p>This problem is also known as solving the \(\mathbf{A}\mathbf{X}=\mathbf{Z}\mathbf{B}\) equation, with:</p><ul>
<li>\(\mathbf{A} \Leftrightarrow \hspace{0.1em} _{}^{c}\textrm{T}_w\)</li>
<li>\(\mathbf{X} \Leftrightarrow \hspace{0.1em} _{}^{w}\textrm{T}_b\)</li>
<li>\(\mathbf{Z} \Leftrightarrow \hspace{0.1em} _{}^{c}\textrm{T}_g\)</li>
<li>\(\mathbf{B} \Leftrightarrow \hspace{0.1em} _{}^{g}\textrm{T}_b\)</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>At least 3 measurements are required (input vectors size must be greater or equal to 3). </dd></dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga87955f4330d5c20e392b265b7f92f691">◆ </a></span>calibrationMatrixValues()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::calibrationMatrixValues </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>apertureWidth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>apertureHeight</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp; </td>
          <td class="paramname"><em>fovx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp; </td>
          <td class="paramname"><em>fovy</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp; </td>
          <td class="paramname"><em>focalLength</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga32986d8c6fd05949688352abd112509f">Point2d</a> &amp; </td>
          <td class="paramname"><em>principalPoint</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp; </td>
          <td class="paramname"><em>aspectRatio</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>fovx, fovy, focalLength, principalPoint, aspectRatio</td><td>=</td><td>cv.calibrationMatrixValues(</td><td class="paramname">cameraMatrix, imageSize, apertureWidth, apertureHeight</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes useful camera characteristics from the camera intrinsic matrix. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cameraMatrix</td><td>Input camera intrinsic matrix that can be estimated by calibrateCamera or stereoCalibrate . </td></tr>
    <tr><td class="paramname">imageSize</td><td>Input image size in pixels. </td></tr>
    <tr><td class="paramname">apertureWidth</td><td>Physical width in mm of the sensor. </td></tr>
    <tr><td class="paramname">apertureHeight</td><td>Physical height in mm of the sensor. </td></tr>
    <tr><td class="paramname">fovx</td><td>Output field of view in degrees along the horizontal sensor axis. </td></tr>
    <tr><td class="paramname">fovy</td><td>Output field of view in degrees along the vertical sensor axis. </td></tr>
    <tr><td class="paramname">focalLength</td><td>Focal length of the lens in mm. </td></tr>
    <tr><td class="paramname">principalPoint</td><td>Principal point in mm. </td></tr>
    <tr><td class="paramname">aspectRatio</td><td>\(f_y/f_x\)</td></tr>
  </table>
  </dd>
</dl>
<p>The function computes various useful camera characteristics from the previously estimated camera matrix.</p>
<dl class="section note"><dt>Note</dt><dd>Do keep in mind that the unity measure 'mm' stands for whatever unit of measure one chooses for the chessboard pitch (it can thus be any value). </dd></dl>
</div>
</div>
<a id="gacd8162cfd39138d0bc29e4b53d080673"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gacd8162cfd39138d0bc29e4b53d080673">◆ </a></span>checkChessboard()</h2>
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      <table class="memname">
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          <td class="memname">bool cv::checkChessboard </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>size</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.checkChessboard(</td><td class="paramname">img, size</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga044b03d81f99370db05c52c3d0b46599">◆ </a></span>composeRT()</h2>
<div class="memitem">
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      <table class="memname">
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          <td class="memname">void cv::composeRT </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>rvec1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>tvec1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>rvec2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>tvec2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>rvec3</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>tvec3</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dr3dr1</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dr3dt1</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dr3dr2</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dr3dt2</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dt3dr1</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dt3dt1</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dt3dr2</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dt3dt2</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>rvec3, tvec3, dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2</td><td>=</td><td>cv.composeRT(</td><td class="paramname">rvec1, tvec1, rvec2, tvec2[, rvec3[, tvec3[, dr3dr1[, dr3dt1[, dr3dr2[, dr3dt2[, dt3dr1[, dt3dt1[, dt3dr2[, dt3dt2]]]]]]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Combines two rotation-and-shift transformations. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">rvec1</td><td>First rotation vector. </td></tr>
    <tr><td class="paramname">tvec1</td><td>First translation vector. </td></tr>
    <tr><td class="paramname">rvec2</td><td>Second rotation vector. </td></tr>
    <tr><td class="paramname">tvec2</td><td>Second translation vector. </td></tr>
    <tr><td class="paramname">rvec3</td><td>Output rotation vector of the superposition. </td></tr>
    <tr><td class="paramname">tvec3</td><td>Output translation vector of the superposition. </td></tr>
    <tr><td class="paramname">dr3dr1</td><td>Optional output derivative of rvec3 with regard to rvec1 </td></tr>
    <tr><td class="paramname">dr3dt1</td><td>Optional output derivative of rvec3 with regard to tvec1 </td></tr>
    <tr><td class="paramname">dr3dr2</td><td>Optional output derivative of rvec3 with regard to rvec2 </td></tr>
    <tr><td class="paramname">dr3dt2</td><td>Optional output derivative of rvec3 with regard to tvec2 </td></tr>
    <tr><td class="paramname">dt3dr1</td><td>Optional output derivative of tvec3 with regard to rvec1 </td></tr>
    <tr><td class="paramname">dt3dt1</td><td>Optional output derivative of tvec3 with regard to tvec1 </td></tr>
    <tr><td class="paramname">dt3dr2</td><td>Optional output derivative of tvec3 with regard to rvec2 </td></tr>
    <tr><td class="paramname">dt3dt2</td><td>Optional output derivative of tvec3 with regard to tvec2</td></tr>
  </table>
  </dd>
</dl>
<p>The functions compute:</p>
<p class="formulaDsp">
\[\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\]
</p>
<p>where \(\mathrm{rodrigues}\) denotes a rotation vector to a rotation matrix transformation, and \(\mathrm{rodrigues}^{-1}\) denotes the inverse transformation. See Rodrigues for details.</p>
<p>Also, the functions can compute the derivatives of the output vectors with regards to the input vectors (see matMulDeriv ). The functions are used inside stereoCalibrate but can also be used in your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a function that contains a matrix multiplication. </p>
</div>
</div>
<a id="ga19e3401c94c44b47c229be6e51d158b7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga19e3401c94c44b47c229be6e51d158b7">◆ </a></span>computeCorrespondEpilines()</h2>
<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname">void cv::computeCorrespondEpilines </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>whichImage</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>F</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>lines</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>lines</td><td>=</td><td>cv.computeCorrespondEpilines(</td><td class="paramname">points, whichImage, F[, lines]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>For points in an image of a stereo pair, computes the corresponding epilines in the other image. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>Input points. \(N \times 1\) or \(1 \times N\) matrix of type CV_32FC2 or vector&lt;Point2f&gt; . </td></tr>
    <tr><td class="paramname">whichImage</td><td>Index of the image (1 or 2) that contains the points . </td></tr>
    <tr><td class="paramname">F</td><td>Fundamental matrix that can be estimated using findFundamentalMat or stereoRectify . </td></tr>
    <tr><td class="paramname">lines</td><td>Output vector of the epipolar lines corresponding to the points in the other image. Each line \(ax + by + c=0\) is encoded by 3 numbers \((a, b, c)\) .</td></tr>
  </table>
  </dd>
</dl>
<p>For every point in one of the two images of a stereo pair, the function finds the equation of the corresponding epipolar line in the other image.</p>
<p>From the fundamental matrix definition (see findFundamentalMat ), line \(l^{(2)}_i\) in the second image for the point \(p^{(1)}_i\) in the first image (when whichImage=1 ) is computed as:</p>
<p class="formulaDsp">
\[l^{(2)}_i = F p^{(1)}_i\]
</p>
<p>And vice versa, when whichImage=2, \(l^{(1)}_i\) is computed from \(p^{(2)}_i\) as:</p>
<p class="formulaDsp">
\[l^{(1)}_i = F^T p^{(2)}_i\]
</p>
<p>Line coefficients are defined up to a scale. They are normalized so that \(a_i^2+b_i^2=1\) . </p>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#gac42edda3a3a0f717979589fcd6ac0035">◆ </a></span>convertPointsFromHomogeneous()</h2>
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      <table class="memname">
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          <td class="memname">void cv::convertPointsFromHomogeneous </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dst</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>dst</td><td>=</td><td>cv.convertPointsFromHomogeneous(</td><td class="paramname">src[, dst]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Converts points from homogeneous to Euclidean space. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>Input vector of N-dimensional points. </td></tr>
    <tr><td class="paramname">dst</td><td>Output vector of N-1-dimensional points.</td></tr>
  </table>
  </dd>
</dl>
<p>The function converts points homogeneous to Euclidean space using perspective projection. That is, each point (x1, x2, ... x(n-1), xn) is converted to (x1/xn, x2/xn, ..., x(n-1)/xn). When xn=0, the output point coordinates will be (0,0,0,...). </p>
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<h2 class="memtitle"><span class="permalink"><a href="#gafa5aa3f40a472bda956b4c27bec67438">◆ </a></span>convertPointsHomogeneous()</h2>
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          <td class="memname">void cv::convertPointsHomogeneous </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dst</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Converts points to/from homogeneous coordinates. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>Input array or vector of 2D, 3D, or 4D points. </td></tr>
    <tr><td class="paramname">dst</td><td>Output vector of 2D, 3D, or 4D points.</td></tr>
  </table>
  </dd>
</dl>
<p>The function converts 2D or 3D points from/to homogeneous coordinates by calling either convertPointsToHomogeneous or convertPointsFromHomogeneous.</p>
<dl class="section note"><dt>Note</dt><dd>The function is obsolete. Use one of the previous two functions instead. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ga13159f129eec8a7d9bd8501f012d5543">◆ </a></span>convertPointsToHomogeneous()</h2>
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      <table class="memname">
        <tr>
          <td class="memname">void cv::convertPointsToHomogeneous </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dst</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>dst</td><td>=</td><td>cv.convertPointsToHomogeneous(</td><td class="paramname">src[, dst]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Converts points from Euclidean to homogeneous space. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>Input vector of N-dimensional points. </td></tr>
    <tr><td class="paramname">dst</td><td>Output vector of N+1-dimensional points.</td></tr>
  </table>
  </dd>
</dl>
<p>The function converts points from Euclidean to homogeneous space by appending 1's to the tuple of point coordinates. That is, each point (x1, x2, ..., xn) is converted to (x1, x2, ..., xn, 1). </p>
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<h2 class="memtitle"><span class="permalink"><a href="#gaf32c99d17908e175ac71e7a08fad587b">◆ </a></span>correctMatches()</h2>
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          <td class="memname">void cv::correctMatches </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>F</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>newPoints1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>newPoints2</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>newPoints1, newPoints2</td><td>=</td><td>cv.correctMatches(</td><td class="paramname">F, points1, points2[, newPoints1[, newPoints2]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Refines coordinates of corresponding points. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">F</td><td>3x3 fundamental matrix. </td></tr>
    <tr><td class="paramname">points1</td><td>1xN array containing the first set of points. </td></tr>
    <tr><td class="paramname">points2</td><td>1xN array containing the second set of points. </td></tr>
    <tr><td class="paramname">newPoints1</td><td>The optimized points1. </td></tr>
    <tr><td class="paramname">newPoints2</td><td>The optimized points2.</td></tr>
  </table>
  </dd>
</dl>
<p>The function implements the Optimal Triangulation Method (see Multiple View Geometry for details). For each given point correspondence points1[i] &lt;-&gt; points2[i], and a fundamental matrix F, it computes the corrected correspondences newPoints1[i] &lt;-&gt; newPoints2[i] that minimize the geometric error \(d(points1[i], newPoints1[i])^2 + d(points2[i],newPoints2[i])^2\) (where \(d(a,b)\) is the geometric distance between points \(a\) and \(b\) ) subject to the epipolar constraint \(newPoints2^T * F * newPoints1 = 0\) . </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga54a2f5b3f8aeaf6c76d4a31dece85d5d">◆ </a></span>decomposeEssentialMat()</h2>
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          <td class="memname">void cv::decomposeEssentialMat </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>E</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>t</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>R1, R2, t</td><td>=</td><td>cv.decomposeEssentialMat(</td><td class="paramname">E[, R1[, R2[, t]]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Decompose an essential matrix to possible rotations and translation. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">E</td><td>The input essential matrix. </td></tr>
    <tr><td class="paramname">R1</td><td>One possible rotation matrix. </td></tr>
    <tr><td class="paramname">R2</td><td>Another possible rotation matrix. </td></tr>
    <tr><td class="paramname">t</td><td>One possible translation.</td></tr>
  </table>
  </dd>
</dl>
<p>This function decomposes the essential matrix E using svd decomposition <a class="el" href="../../d0/de3/citelist.html#CITEREF_HartleyZ00">[103]</a>. In general, four possible poses exist for the decomposition of E. They are \([R_1, t]\), \([R_1, -t]\), \([R_2, t]\), \([R_2, -t]\).</p>
<p>If E gives the epipolar constraint \([p_2; 1]^T A^{-T} E A^{-1} [p_1; 1] = 0\) between the image points \(p_1\) in the first image and \(p_2\) in second image, then any of the tuples \([R_1, t]\), \([R_1, -t]\), \([R_2, t]\), \([R_2, -t]\) is a change of basis from the first camera's coordinate system to the second camera's coordinate system. However, by decomposing E, one can only get the direction of the translation. For this reason, the translation t is returned with unit length. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga7f60bdff78833d1e3fd6d9d0fd538d92">◆ </a></span>decomposeHomographyMat()</h2>
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          <td class="memname">int cv::decomposeHomographyMat </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>H</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>rotations</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>translations</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>normals</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, rotations, translations, normals</td><td>=</td><td>cv.decomposeHomographyMat(</td><td class="paramname">H, K[, rotations[, translations[, normals]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Decompose a homography matrix to rotation(s), translation(s) and plane normal(s). </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">H</td><td>The input homography matrix between two images. </td></tr>
    <tr><td class="paramname">K</td><td>The input camera intrinsic matrix. </td></tr>
    <tr><td class="paramname">rotations</td><td>Array of rotation matrices. </td></tr>
    <tr><td class="paramname">translations</td><td>Array of translation matrices. </td></tr>
    <tr><td class="paramname">normals</td><td>Array of plane normal matrices.</td></tr>
  </table>
  </dd>
</dl>
<p>This function extracts relative camera motion between two views of a planar object and returns up to four mathematical solution tuples of rotation, translation, and plane normal. The decomposition of the homography matrix H is described in detail in <a class="el" href="../../d0/de3/citelist.html#CITEREF_Malis">[161]</a>.</p>
<p>If the homography H, induced by the plane, gives the constraint </p><p class="formulaDsp">
\[s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\]
</p>
<p> on the source image points \(p_i\) and the destination image points \(p'_i\), then the tuple of rotations[k] and translations[k] is a change of basis from the source camera's coordinate system to the destination camera's coordinate system. However, by decomposing H, one can only get the translation normalized by the (typically unknown) depth of the scene, i.e. its direction but with normalized length.</p>
<p>If point correspondences are available, at least two solutions may further be invalidated, by applying positive depth constraint, i.e. all points must be in front of the camera. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="../../de/d45/samples_2cpp_2tutorial_code_2features2D_2Homography_2decompose_homography_8cpp-example.html#a20">samples/cpp/tutorial_code/features2D/Homography/decompose_homography.cpp</a>.</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#gaaae5a7899faa1ffdf268cd9088940248">◆ </a></span>decomposeProjectionMatrix()</h2>
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          <td class="memname">void cv::decomposeProjectionMatrix </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>projMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>rotMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>transVect</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>rotMatrixX</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>rotMatrixY</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>rotMatrixZ</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>eulerAngles</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>cameraMatrix, rotMatrix, transVect, rotMatrixX, rotMatrixY, rotMatrixZ, eulerAngles</td><td>=</td><td>cv.decomposeProjectionMatrix(</td><td class="paramname">projMatrix[, cameraMatrix[, rotMatrix[, transVect[, rotMatrixX[, rotMatrixY[, rotMatrixZ[, eulerAngles]]]]]]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">projMatrix</td><td>3x4 input projection matrix P. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Output 3x3 camera intrinsic matrix \(\cameramatrix{A}\). </td></tr>
    <tr><td class="paramname">rotMatrix</td><td>Output 3x3 external rotation matrix R. </td></tr>
    <tr><td class="paramname">transVect</td><td>Output 4x1 translation vector T. </td></tr>
    <tr><td class="paramname">rotMatrixX</td><td>Optional 3x3 rotation matrix around x-axis. </td></tr>
    <tr><td class="paramname">rotMatrixY</td><td>Optional 3x3 rotation matrix around y-axis. </td></tr>
    <tr><td class="paramname">rotMatrixZ</td><td>Optional 3x3 rotation matrix around z-axis. </td></tr>
    <tr><td class="paramname">eulerAngles</td><td>Optional three-element vector containing three Euler angles of rotation in degrees.</td></tr>
  </table>
  </dd>
</dl>
<p>The function computes a decomposition of a projection matrix into a calibration and a rotation matrix and the position of a camera.</p>
<p>It optionally returns three rotation matrices, one for each axis, and three Euler angles that could be used in OpenGL. Note, there is always more than one sequence of rotations about the three principal axes that results in the same orientation of an object, e.g. see <a class="el" href="../../d0/de3/citelist.html#CITEREF_Slabaugh">[226]</a> . Returned tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.</p>
<p>The function is based on RQDecomp3x3 . </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga6a10b0bb120c4907e5eabbcd22319022">◆ </a></span>drawChessboardCorners()</h2>
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          <td class="memname">void cv::drawChessboardCorners </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>patternSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>corners</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>patternWasFound</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>image</td><td>=</td><td>cv.drawChessboardCorners(</td><td class="paramname">image, patternSize, corners, patternWasFound</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Renders the detected chessboard corners. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">image</td><td>Destination image. It must be an 8-bit color image. </td></tr>
    <tr><td class="paramname">patternSize</td><td>Number of inner corners per a chessboard row and column (patternSize = cv::Size(points_per_row,points_per_column)). </td></tr>
    <tr><td class="paramname">corners</td><td>Array of detected corners, the output of findChessboardCorners. </td></tr>
    <tr><td class="paramname">patternWasFound</td><td>Parameter indicating whether the complete board was found or not. The return value of findChessboardCorners should be passed here.</td></tr>
  </table>
  </dd>
</dl>
<p>The function draws individual chessboard corners detected either as red circles if the board was not found, or as colored corners connected with lines if the board was found. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="../../d0/d92/samples_2cpp_2tutorial_code_2features2D_2Homography_2pose_from_homography_8cpp-example.html#a11">samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp</a>.</dd>
</dl>
</div>
</div>
<a id="gab3ab7bb2bdfe7d5d9745bb92d13f9564"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gab3ab7bb2bdfe7d5d9745bb92d13f9564">◆ </a></span>drawFrameAxes()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::drawFrameAxes </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>rvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>tvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>length</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>thickness</em> = <code>3</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>image</td><td>=</td><td>cv.drawFrameAxes(</td><td class="paramname">image, cameraMatrix, distCoeffs, rvec, tvec, length[, thickness]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Draw axes of the world/object coordinate system from pose estimation. </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d" title="Finds an object pose from 3D-2D point correspondences. This function returns the rotation and the tra...">solvePnP</a></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">image</td><td>Input/output image. It must have 1 or 3 channels. The number of channels is not altered. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Input 3x3 floating-point matrix of camera intrinsic parameters. \(\cameramatrix{A}\) </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \(\distcoeffs\). If the vector is empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">rvec</td><td>Rotation vector (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">Rodrigues</a> ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system. </td></tr>
    <tr><td class="paramname">tvec</td><td>Translation vector. </td></tr>
    <tr><td class="paramname">length</td><td>Length of the painted axes in the same unit than tvec (usually in meters). </td></tr>
    <tr><td class="paramname">thickness</td><td>Line thickness of the painted axes.</td></tr>
  </table>
  </dd>
</dl>
<p>This function draws the axes of the world/object coordinate system w.r.t. to the camera frame. OX is drawn in red, OY in green and OZ in blue. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="../../d9/d47/samples_2cpp_2tutorial_code_2features2D_2Homography_2homography_from_camera_displacement_8cpp-example.html#a14">samples/cpp/tutorial_code/features2D/Homography/homography_from_camera_displacement.cpp</a>, and <a class="el" href="../../d0/d92/samples_2cpp_2tutorial_code_2features2D_2Homography_2pose_from_homography_8cpp-example.html#a26">samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp</a>.</dd>
</dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga27865b1d26bac9ce91efaee83e94d4dd">◆ </a></span>estimateAffine2D() <span class="overload">[1/2]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> cv::estimateAffine2D </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>from</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>to</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>inliers</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>method</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>ransacReprojThreshold</em> = <code>3</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t </td>
          <td class="paramname"><em>maxIters</em> = <code>2000</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>confidence</em> = <code>0.99</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t </td>
          <td class="paramname"><em>refineIters</em> = <code>10</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, inliers</td><td>=</td><td>cv.estimateAffine2D(</td><td class="paramname">from, to[, inliers[, method[, ransacReprojThreshold[, maxIters[, confidence[, refineIters]]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, inliers</td><td>=</td><td>cv.estimateAffine2D(</td><td class="paramname">pts1, pts2, params[, inliers]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes an optimal affine transformation between two 2D point sets. </p>
<p>It computes </p><p class="formulaDsp">
\[ \begin{bmatrix} x\\ y\\ \end{bmatrix} = \begin{bmatrix} a_{11} &amp; a_{12}\\ a_{21} &amp; a_{22}\\ \end{bmatrix} \begin{bmatrix} X\\ Y\\ \end{bmatrix} + \begin{bmatrix} b_1\\ b_2\\ \end{bmatrix} \]
</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">from</td><td>First input 2D point set containing \((X,Y)\). </td></tr>
    <tr><td class="paramname">to</td><td>Second input 2D point set containing \((x,y)\). </td></tr>
    <tr><td class="paramname">inliers</td><td>Output vector indicating which points are inliers (1-inlier, 0-outlier). </td></tr>
    <tr><td class="paramname">method</td><td>Robust method used to compute transformation. The following methods are possible:<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a> - RANSAC-based robust method</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0ae59a3f6677ddd05b96a298a6c24fcbe6">LMEDS</a> - Least-Median robust method RANSAC is the default method. </li>
</ul>
</td></tr>
    <tr><td class="paramname">ransacReprojThreshold</td><td>Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier. Applies only to RANSAC. </td></tr>
    <tr><td class="paramname">maxIters</td><td>The maximum number of robust method iterations. </td></tr>
    <tr><td class="paramname">confidence</td><td>Confidence level, between 0 and 1, for the estimated transformation. Anything between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation. </td></tr>
    <tr><td class="paramname">refineIters</td><td>Maximum number of iterations of refining algorithm (Levenberg-Marquardt). Passing 0 will disable refining, so the output matrix will be output of robust method.</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Output 2D affine transformation matrix \(2 \times 3\) or empty matrix if transformation could not be estimated. The returned matrix has the following form: <p class="formulaDsp">
\[ \begin{bmatrix} a_{11} &amp; a_{12} &amp; b_1\\ a_{21} &amp; a_{22} &amp; b_2\\ \end{bmatrix} \]
</p>
</dd></dl>
<p>The function estimates an optimal 2D affine transformation between two 2D point sets using the selected robust algorithm.</p>
<p>The computed transformation is then refined further (using only inliers) with the Levenberg-Marquardt method to reduce the re-projection error even more.</p>
<dl class="section note"><dt>Note</dt><dd>The RANSAC method can handle practically any ratio of outliers but needs a threshold to distinguish inliers from outliers. The method LMeDS does not need any threshold but it works correctly only when there are more than 50% of inliers.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d0c/group__calib3d.html#gad767faff73e9cbd8b9d92b955b50062d" title="Computes an optimal limited affine transformation with 4 degrees of freedom between two 2D point sets...">estimateAffinePartial2D</a>, <a class="el" href="../../da/d54/group__imgproc__transform.html#ga8f6d378f9f8eebb5cb55cd3ae295a999" title="Calculates an affine transform from three pairs of the corresponding points. ">getAffineTransform</a> </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ga826a81ddb74d54af435273c668fa9192">◆ </a></span>estimateAffine2D() <span class="overload">[2/2]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> cv::estimateAffine2D </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>pts1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>pts2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>inliers</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a> &amp; </td>
          <td class="paramname"><em>params</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, inliers</td><td>=</td><td>cv.estimateAffine2D(</td><td class="paramname">from, to[, inliers[, method[, ransacReprojThreshold[, maxIters[, confidence[, refineIters]]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, inliers</td><td>=</td><td>cv.estimateAffine2D(</td><td class="paramname">pts1, pts2, params[, inliers]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga396afb6411b30770e56ab69548724715">◆ </a></span>estimateAffine3D()</h2>
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          <td class="memname">int cv::estimateAffine3D </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>dst</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>out</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>inliers</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>ransacThreshold</em> = <code>3</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>confidence</em> = <code>0.99</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, out, inliers</td><td>=</td><td>cv.estimateAffine3D(</td><td class="paramname">src, dst[, out[, inliers[, ransacThreshold[, confidence]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes an optimal affine transformation between two 3D point sets. </p>
<p>It computes </p><p class="formulaDsp">
\[ \begin{bmatrix} x\\ y\\ z\\ \end{bmatrix} = \begin{bmatrix} a_{11} &amp; a_{12} &amp; a_{13}\\ a_{21} &amp; a_{22} &amp; a_{23}\\ a_{31} &amp; a_{32} &amp; a_{33}\\ \end{bmatrix} \begin{bmatrix} X\\ Y\\ Z\\ \end{bmatrix} + \begin{bmatrix} b_1\\ b_2\\ b_3\\ \end{bmatrix} \]
</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>First input 3D point set containing \((X,Y,Z)\). </td></tr>
    <tr><td class="paramname">dst</td><td>Second input 3D point set containing \((x,y,z)\). </td></tr>
    <tr><td class="paramname">out</td><td>Output 3D affine transformation matrix \(3 \times 4\) of the form <p class="formulaDsp">
\[ \begin{bmatrix} a_{11} &amp; a_{12} &amp; a_{13} &amp; b_1\\ a_{21} &amp; a_{22} &amp; a_{23} &amp; b_2\\ a_{31} &amp; a_{32} &amp; a_{33} &amp; b_3\\ \end{bmatrix} \]
</p>
 </td></tr>
    <tr><td class="paramname">inliers</td><td>Output vector indicating which points are inliers (1-inlier, 0-outlier). </td></tr>
    <tr><td class="paramname">ransacThreshold</td><td>Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier. </td></tr>
    <tr><td class="paramname">confidence</td><td>Confidence level, between 0 and 1, for the estimated transformation. Anything between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.</td></tr>
  </table>
  </dd>
</dl>
<p>The function estimates an optimal 3D affine transformation between two 3D point sets using the RANSAC algorithm. </p>
</div>
</div>
<a id="gad767faff73e9cbd8b9d92b955b50062d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gad767faff73e9cbd8b9d92b955b50062d">◆ </a></span>estimateAffinePartial2D()</h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> cv::estimateAffinePartial2D </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>from</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>to</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>inliers</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>method</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>ransacReprojThreshold</em> = <code>3</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t </td>
          <td class="paramname"><em>maxIters</em> = <code>2000</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>confidence</em> = <code>0.99</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t </td>
          <td class="paramname"><em>refineIters</em> = <code>10</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, inliers</td><td>=</td><td>cv.estimateAffinePartial2D(</td><td class="paramname">from, to[, inliers[, method[, ransacReprojThreshold[, maxIters[, confidence[, refineIters]]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes an optimal limited affine transformation with 4 degrees of freedom between two 2D point sets. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">from</td><td>First input 2D point set. </td></tr>
    <tr><td class="paramname">to</td><td>Second input 2D point set. </td></tr>
    <tr><td class="paramname">inliers</td><td>Output vector indicating which points are inliers. </td></tr>
    <tr><td class="paramname">method</td><td>Robust method used to compute transformation. The following methods are possible:<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a> - RANSAC-based robust method</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0ae59a3f6677ddd05b96a298a6c24fcbe6">LMEDS</a> - Least-Median robust method RANSAC is the default method. </li>
</ul>
</td></tr>
    <tr><td class="paramname">ransacReprojThreshold</td><td>Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier. Applies only to RANSAC. </td></tr>
    <tr><td class="paramname">maxIters</td><td>The maximum number of robust method iterations. </td></tr>
    <tr><td class="paramname">confidence</td><td>Confidence level, between 0 and 1, for the estimated transformation. Anything between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation. </td></tr>
    <tr><td class="paramname">refineIters</td><td>Maximum number of iterations of refining algorithm (Levenberg-Marquardt). Passing 0 will disable refining, so the output matrix will be output of robust method.</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Output 2D affine transformation (4 degrees of freedom) matrix \(2 \times 3\) or empty matrix if transformation could not be estimated.</dd></dl>
<p>The function estimates an optimal 2D affine transformation with 4 degrees of freedom limited to combinations of translation, rotation, and uniform scaling. Uses the selected algorithm for robust estimation.</p>
<p>The computed transformation is then refined further (using only inliers) with the Levenberg-Marquardt method to reduce the re-projection error even more.</p>
<p>Estimated transformation matrix is: </p><p class="formulaDsp">
\[ \begin{bmatrix} \cos(\theta) \cdot s &amp; -\sin(\theta) \cdot s &amp; t_x \\ \sin(\theta) \cdot s &amp; \cos(\theta) \cdot s &amp; t_y \end{bmatrix} \]
</p>
<p> Where \( \theta \) is the rotation angle, \( s \) the scaling factor and \( t_x, t_y \) are translations in \( x, y \) axes respectively.</p>
<dl class="section note"><dt>Note</dt><dd>The RANSAC method can handle practically any ratio of outliers but need a threshold to distinguish inliers from outliers. The method LMeDS does not need any threshold but it works correctly only when there are more than 50% of inliers.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d0c/group__calib3d.html#ga27865b1d26bac9ce91efaee83e94d4dd" title="Computes an optimal affine transformation between two 2D point sets. ">estimateAffine2D</a>, <a class="el" href="../../da/d54/group__imgproc__transform.html#ga8f6d378f9f8eebb5cb55cd3ae295a999" title="Calculates an affine transform from three pairs of the corresponding points. ">getAffineTransform</a> </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ga1b976b476cd2083edd4323a34e9e1ffa">◆ </a></span>estimateChessboardSharpness()</h2>
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          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga599fe92e910c027be274233eccad7beb">Scalar</a> cv::estimateChessboardSharpness </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>patternSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>corners</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>rise_distance</em> = <code>0.8F</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>vertical</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>sharpness</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, sharpness</td><td>=</td><td>cv.estimateChessboardSharpness(</td><td class="paramname">image, patternSize, corners[, rise_distance[, vertical[, sharpness]]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Estimates the sharpness of a detected chessboard. </p>
<p>Image sharpness, as well as brightness, are a critical parameter for accuracte camera calibration. For accessing these parameters for filtering out problematic calibraiton images, this method calculates edge profiles by traveling from black to white chessboard cell centers. Based on this, the number of pixels is calculated required to transit from black to white. This width of the transition area is a good indication of how sharp the chessboard is imaged and should be below ~3.0 pixels.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">image</td><td>Gray image used to find chessboard corners </td></tr>
    <tr><td class="paramname">patternSize</td><td>Size of a found chessboard pattern </td></tr>
    <tr><td class="paramname">corners</td><td>Corners found by findChessboardCorners(SB) </td></tr>
    <tr><td class="paramname">rise_distance</td><td>Rise distance 0.8 means 10% ... 90% of the final signal strength </td></tr>
    <tr><td class="paramname">vertical</td><td>By default edge responses for horizontal lines are calculated </td></tr>
    <tr><td class="paramname">sharpness</td><td>Optional output array with a sharpness value for calculated edge responses (see description)</td></tr>
  </table>
  </dd>
</dl>
<p>The optional sharpness array is of type CV_32FC1 and has for each calculated profile one row with the following five entries: 0 = x coordinate of the underlying edge in the image 1 = y coordinate of the underlying edge in the image 2 = width of the transition area (sharpness) 3 = signal strength in the black cell (min brightness) 4 = signal strength in the white cell (max brightness)</p>
<dl class="section return"><dt>Returns</dt><dd>Scalar(average sharpness, average min brightness, average max brightness,0) </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ga0ea15af08887dd5afa68d81711d395ff">◆ </a></span>estimateTranslation3D()</h2>
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          <td class="memname">int cv::estimateTranslation3D </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>dst</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>out</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>inliers</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>ransacThreshold</em> = <code>3</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>confidence</em> = <code>0.99</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, out, inliers</td><td>=</td><td>cv.estimateTranslation3D(</td><td class="paramname">src, dst[, out[, inliers[, ransacThreshold[, confidence]]]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes an optimal translation between two 3D point sets. </p>
<p>It computes </p><p class="formulaDsp">
\[ \begin{bmatrix} x\\ y\\ z\\ \end{bmatrix} = \begin{bmatrix} X\\ Y\\ Z\\ \end{bmatrix} + \begin{bmatrix} b_1\\ b_2\\ b_3\\ \end{bmatrix} \]
</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>First input 3D point set containing \((X,Y,Z)\). </td></tr>
    <tr><td class="paramname">dst</td><td>Second input 3D point set containing \((x,y,z)\). </td></tr>
    <tr><td class="paramname">out</td><td>Output 3D translation vector \(3 \times 1\) of the form <p class="formulaDsp">
\[ \begin{bmatrix} b_1 \\ b_2 \\ b_3 \\ \end{bmatrix} \]
</p>
 </td></tr>
    <tr><td class="paramname">inliers</td><td>Output vector indicating which points are inliers (1-inlier, 0-outlier). </td></tr>
    <tr><td class="paramname">ransacThreshold</td><td>Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier. </td></tr>
    <tr><td class="paramname">confidence</td><td>Confidence level, between 0 and 1, for the estimated transformation. Anything between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.</td></tr>
  </table>
  </dd>
</dl>
<p>The function estimates an optimal 3D translation between two 3D point sets using the RANSAC algorithm. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga32f867159200f7bd55e72dca92d8494c">◆ </a></span>filterHomographyDecompByVisibleRefpoints()</h2>
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          <td class="memname">void cv::filterHomographyDecompByVisibleRefpoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>rotations</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>normals</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>beforePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>afterPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>possibleSolutions</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>pointsMask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>possibleSolutions</td><td>=</td><td>cv.filterHomographyDecompByVisibleRefpoints(</td><td class="paramname">rotations, normals, beforePoints, afterPoints[, possibleSolutions[, pointsMask]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Filters homography decompositions based on additional information. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">rotations</td><td>Vector of rotation matrices. </td></tr>
    <tr><td class="paramname">normals</td><td>Vector of plane normal matrices. </td></tr>
    <tr><td class="paramname">beforePoints</td><td>Vector of (rectified) visible reference points before the homography is applied </td></tr>
    <tr><td class="paramname">afterPoints</td><td>Vector of (rectified) visible reference points after the homography is applied </td></tr>
    <tr><td class="paramname">possibleSolutions</td><td>Vector of int indices representing the viable solution set after filtering </td></tr>
    <tr><td class="paramname">pointsMask</td><td>optional Mat/Vector of 8u type representing the mask for the inliers as given by the findHomography function</td></tr>
  </table>
  </dd>
</dl>
<p>This function is intended to filter the output of the decomposeHomographyMat based on additional information as described in <a class="el" href="../../d0/de3/citelist.html#CITEREF_Malis">[161]</a> . The summary of the method: the decomposeHomographyMat function returns 2 unique solutions and their "opposites" for a total of 4 solutions. If we have access to the sets of points visible in the camera frame before and after the homography transformation is applied, we can determine which are the true potential solutions and which are the opposites by verifying which homographies are consistent with all visible reference points being in front of the camera. The inputs are left unchanged; the filtered solution set is returned as indices into the existing one. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#gabe331f205a6dd7a9aa5db8a38157d25b">◆ </a></span>filterSpeckles()</h2>
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          <td class="memname">void cv::filterSpeckles </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>img</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>newVal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>maxSpeckleSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>maxDiff</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>buf</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>img, buf</td><td>=</td><td>cv.filterSpeckles(</td><td class="paramname">img, newVal, maxSpeckleSize, maxDiff[, buf]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Filters off small noise blobs (speckles) in the disparity map. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">img</td><td>The input 16-bit signed disparity image </td></tr>
    <tr><td class="paramname">newVal</td><td>The disparity value used to paint-off the speckles </td></tr>
    <tr><td class="paramname">maxSpeckleSize</td><td>The maximum speckle size to consider it a speckle. Larger blobs are not affected by the algorithm </td></tr>
    <tr><td class="paramname">maxDiff</td><td>Maximum difference between neighbor disparity pixels to put them into the same blob. Note that since <a class="el" href="../../d9/dba/classcv_1_1StereoBM.html" title="Class for computing stereo correspondence using the block matching algorithm, introduced and contribu...">StereoBM</a>, <a class="el" href="../../d2/d85/classcv_1_1StereoSGBM.html" title="The class implements the modified H. Hirschmuller algorithm  that differs from the original one as fo...">StereoSGBM</a> and may be other algorithms return a fixed-point disparity map, where disparity values are multiplied by 16, this scale factor should be taken into account when specifying this parameter value. </td></tr>
    <tr><td class="paramname">buf</td><td>The optional temporary buffer to avoid memory allocation within the function. </td></tr>
  </table>
  </dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#gab8816c8a176e1d78893b843b3f01557a">◆ </a></span>find4QuadCornerSubpix()</h2>
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          <td class="memname">bool cv::find4QuadCornerSubpix </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>corners</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>region_size</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, corners</td><td>=</td><td>cv.find4QuadCornerSubpix(</td><td class="paramname">img, corners, region_size</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>finds subpixel-accurate positions of the chessboard corners </p>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga93efa9b0aa890de240ca32b11253dd4a">◆ </a></span>findChessboardCorners()</h2>
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          <td class="memname">bool cv::findChessboardCorners </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>patternSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>corners</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba9e296b20df217b62e581c56ad9359db5">CALIB_CB_ADAPTIVE_THRESH</a>+<a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fbaf54c37b53d4375f95e9b1a3d9846c97a">CALIB_CB_NORMALIZE_IMAGE</a></code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, corners</td><td>=</td><td>cv.findChessboardCorners(</td><td class="paramname">image, patternSize[, corners[, flags]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds the positions of internal corners of the chessboard. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">image</td><td>Source chessboard view. It must be an 8-bit grayscale or color image. </td></tr>
    <tr><td class="paramname">patternSize</td><td>Number of inner corners per a chessboard row and column ( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ). </td></tr>
    <tr><td class="paramname">corners</td><td>Output array of detected corners. </td></tr>
    <tr><td class="paramname">flags</td><td>Various operation flags that can be zero or a combination of the following values:<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba9e296b20df217b62e581c56ad9359db5">CALIB_CB_ADAPTIVE_THRESH</a> Use adaptive thresholding to convert the image to black and white, rather than a fixed threshold level (computed from the average image brightness).</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fbaf54c37b53d4375f95e9b1a3d9846c97a">CALIB_CB_NORMALIZE_IMAGE</a> Normalize the image gamma with equalizeHist before applying fixed or adaptive thresholding.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fbaa3481a374c81f6996c3c897fcf5b9b39">CALIB_CB_FILTER_QUADS</a> Use additional criteria (like contour area, perimeter, square-like shape) to filter out false quads extracted at the contour retrieval stage.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba5b5ef5178c5c5d50cc15719aecc5fd25">CALIB_CB_FAST_CHECK</a> Run a fast check on the image that looks for chessboard corners, and shortcut the call if none is found. This can drastically speed up the call in the degenerate condition when no chessboard is observed.</li>
</ul>
</td></tr>
  </table>
  </dd>
</dl>
<p>The function attempts to determine whether the input image is a view of the chessboard pattern and locate the internal chessboard corners. The function returns a non-zero value if all of the corners are found and they are placed in a certain order (row by row, left to right in every row). Otherwise, if the function fails to find all the corners or reorder them, it returns 0. For example, a regular chessboard has 8 x 8 squares and 7 x 7 internal corners, that is, points where the black squares touch each other. The detected coordinates are approximate, and to determine their positions more accurately, the function calls cornerSubPix. You also may use the function cornerSubPix with different parameters if returned coordinates are not accurate enough.</p>
<p>Sample usage of detecting and drawing chessboard corners: : </p><div class="fragment"><div class="line"><a class="code" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> patternsize(8,6); <span class="comment">//interior number of corners</span></div><div class="line">Mat gray = ....; <span class="comment">//source image</span></div><div class="line">vector&lt;Point2f&gt; corners; <span class="comment">//this will be filled by the detected corners</span></div><div class="line"></div><div class="line"><span class="comment">//CALIB_CB_FAST_CHECK saves a lot of time on images</span></div><div class="line"><span class="comment">//that do not contain any chessboard corners</span></div><div class="line"><span class="keywordtype">bool</span> patternfound = <a class="code" href="../../d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a">findChessboardCorners</a>(gray, patternsize, corners,</div><div class="line">        <a class="code" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba9e296b20df217b62e581c56ad9359db5">CALIB_CB_ADAPTIVE_THRESH</a> + <a class="code" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fbaf54c37b53d4375f95e9b1a3d9846c97a">CALIB_CB_NORMALIZE_IMAGE</a></div><div class="line">        + <a class="code" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba5b5ef5178c5c5d50cc15719aecc5fd25">CALIB_CB_FAST_CHECK</a>);</div><div class="line"></div><div class="line"><span class="keywordflow">if</span>(patternfound)</div><div class="line">  <a class="code" href="../../dd/d1a/group__imgproc__feature.html#ga354e0d7c86d0d9da75de9b9701a9a87e">cornerSubPix</a>(gray, corners, <a class="code" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a>(11, 11), <a class="code" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a>(-1, -1),</div><div class="line">    TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));</div><div class="line"></div><div class="line"><a class="code" href="../../d9/d0c/group__calib3d.html#ga6a10b0bb120c4907e5eabbcd22319022">drawChessboardCorners</a>(img, patternsize, Mat(corners), patternfound);</div></div><!-- fragment --> <dl class="section note"><dt>Note</dt><dd>The function requires white space (like a square-thick border, the wider the better) around the board to make the detection more robust in various environments. Otherwise, if there is no border and the background is dark, the outer black squares cannot be segmented properly and so the square grouping and ordering algorithm fails. </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="../../de/d45/samples_2cpp_2tutorial_code_2features2D_2Homography_2decompose_homography_8cpp-example.html#a10">samples/cpp/tutorial_code/features2D/Homography/decompose_homography.cpp</a>, <a class="el" href="../../d9/d47/samples_2cpp_2tutorial_code_2features2D_2Homography_2homography_from_camera_displacement_8cpp-example.html#a10">samples/cpp/tutorial_code/features2D/Homography/homography_from_camera_displacement.cpp</a>, and <a class="el" href="../../d0/d92/samples_2cpp_2tutorial_code_2features2D_2Homography_2pose_from_homography_8cpp-example.html#a10">samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp</a>.</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#gadc5bcb05cb21cf1e50963df26986d7c9">◆ </a></span>findChessboardCornersSB() <span class="overload">[1/2]</span></h2>
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          <td class="memname">bool cv::findChessboardCornersSB </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>patternSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>corners</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>meta</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, corners</td><td>=</td><td>cv.findChessboardCornersSB(</td><td class="paramname">image, patternSize[, corners[, flags]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, corners, meta</td><td>=</td><td>cv.findChessboardCornersSBWithMeta(</td><td class="paramname">image, patternSize, flags[, corners[, meta]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds the positions of internal corners of the chessboard using a sector based approach. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">image</td><td>Source chessboard view. It must be an 8-bit grayscale or color image. </td></tr>
    <tr><td class="paramname">patternSize</td><td>Number of inner corners per a chessboard row and column ( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ). </td></tr>
    <tr><td class="paramname">corners</td><td>Output array of detected corners. </td></tr>
    <tr><td class="paramname">flags</td><td>Various operation flags that can be zero or a combination of the following values:<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fbaf54c37b53d4375f95e9b1a3d9846c97a">CALIB_CB_NORMALIZE_IMAGE</a> Normalize the image gamma with equalizeHist before detection.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fbabe82895b599d0a1c1cb1ef96c222682d">CALIB_CB_EXHAUSTIVE</a> Run an exhaustive search to improve detection rate.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba2782e0f6a4a5d4f69054c16870c767e7">CALIB_CB_ACCURACY</a> Up sample input image to improve sub-pixel accuracy due to aliasing effects.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba8dc6198c5d486c78911a60cba58d0835">CALIB_CB_LARGER</a> The detected pattern is allowed to be larger than patternSize (see description).</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba9a4682e44762f5fc90b34f6ec95cce0e">CALIB_CB_MARKER</a> The detected pattern must have a marker (see description). This should be used if an accurate camera calibration is required. </li>
</ul>
</td></tr>
    <tr><td class="paramname">meta</td><td>Optional output arrray of detected corners (CV_8UC1 and size = cv::Size(columns,rows)). Each entry stands for one corner of the pattern and can have one of the following values:<ul>
<li>0 = no meta data attached</li>
<li>1 = left-top corner of a black cell</li>
<li>2 = left-top corner of a white cell</li>
<li>3 = left-top corner of a black cell with a white marker dot</li>
<li>4 = left-top corner of a white cell with a black marker dot (pattern origin in case of markers otherwise first corner)</li>
</ul>
</td></tr>
  </table>
  </dd>
</dl>
<p>The function is analog to findchessboardCorners but uses a localized radon transformation approximated by box filters being more robust to all sort of noise, faster on larger images and is able to directly return the sub-pixel position of the internal chessboard corners. The Method is based on the paper <a class="el" href="../../d0/de3/citelist.html#CITEREF_duda2018">[61]</a> "Accurate Detection and Localization of Checkerboard Corners for
Calibration" demonstrating that the returned sub-pixel positions are more accurate than the one returned by cornerSubPix allowing a precise camera calibration for demanding applications.</p>
<p>In the case, the flags <a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba8dc6198c5d486c78911a60cba58d0835">CALIB_CB_LARGER</a> or <a class="el" href="../../d9/d0c/group__calib3d.html#gga9007b81edae8e7ead89219b316c109fba9a4682e44762f5fc90b34f6ec95cce0e">CALIB_CB_MARKER</a> are given, the result can be recovered from the optional meta array. Both flags are helpful to use calibration patterns exceeding the field of view of the camera. These oversized patterns allow more accurate calibrations as corners can be utilized, which are as close as possible to the image borders. For a consistent coordinate system across all images, the optional marker (see image below) can be used to move the origin of the board to the location where the black circle is located.</p>
<dl class="section note"><dt>Note</dt><dd>The function requires a white boarder with roughly the same width as one of the checkerboard fields around the whole board to improve the detection in various environments. In addition, because of the localized radon transformation it is beneficial to use round corners for the field corners which are located on the outside of the board. The following figure illustrates a sample checkerboard optimized for the detection. However, any other checkerboard can be used as well. <div class="image">
<img alt="checkerboard_radon.png" src="../../checkerboard_radon.png"/>
<div class="caption">
Checkerboard</div></div>
</dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#gad0e88e13cd3d410870a99927510d7f91">◆ </a></span>findChessboardCornersSB() <span class="overload">[2/2]</span></h2>
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          <td class="memname">bool cv::findChessboardCornersSB </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>patternSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>corners</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code>0</code> </td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, corners</td><td>=</td><td>cv.findChessboardCornersSB(</td><td class="paramname">image, patternSize[, corners[, flags]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, corners, meta</td><td>=</td><td>cv.findChessboardCornersSBWithMeta(</td><td class="paramname">image, patternSize, flags[, corners[, meta]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga7f02cd21c8352142890190227628fa80">◆ </a></span>findCirclesGrid() <span class="overload">[1/2]</span></h2>
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          <td class="memname">bool cv::findCirclesGrid </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>patternSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>centers</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d9b/group__features2d.html#ga15e1361bda978d83a2bea629b32dfd3c">FeatureDetector</a> &gt; &amp; </td>
          <td class="paramname"><em>blobDetector</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d2/dd1/structcv_1_1CirclesGridFinderParameters.html">CirclesGridFinderParameters</a> &amp; </td>
          <td class="paramname"><em>parameters</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, centers</td><td>=</td><td>cv.findCirclesGrid(</td><td class="paramname">image, patternSize, flags, blobDetector, parameters[, centers]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, centers</td><td>=</td><td>cv.findCirclesGrid(</td><td class="paramname">image, patternSize[, centers[, flags[, blobDetector]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds centers in the grid of circles. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">image</td><td>grid view of input circles; it must be an 8-bit grayscale or color image. </td></tr>
    <tr><td class="paramname">patternSize</td><td>number of circles per row and column ( patternSize = Size(points_per_row, points_per_colum) ). </td></tr>
    <tr><td class="paramname">centers</td><td>output array of detected centers. </td></tr>
    <tr><td class="paramname">flags</td><td>various operation flags that can be one of the following values:<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#ggae515fd11d4c0e5b4162440eaf2094e02a0f3929cc92e83ddce51ed008668db33a">CALIB_CB_SYMMETRIC_GRID</a> uses symmetric pattern of circles.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#ggae515fd11d4c0e5b4162440eaf2094e02a2ef9eceaffccf6a70aea8cd9006bd235">CALIB_CB_ASYMMETRIC_GRID</a> uses asymmetric pattern of circles.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#ggae515fd11d4c0e5b4162440eaf2094e02ad85eb1e4aff97e844098e03e39efd744">CALIB_CB_CLUSTERING</a> uses a special algorithm for grid detection. It is more robust to perspective distortions but much more sensitive to background clutter. </li>
</ul>
</td></tr>
    <tr><td class="paramname">blobDetector</td><td>feature detector that finds blobs like dark circles on light background. If <code>blobDetector</code> is NULL then <code>image</code> represents Point2f array of candidates. </td></tr>
    <tr><td class="paramname">parameters</td><td>struct for finding circles in a grid pattern.</td></tr>
  </table>
  </dd>
</dl>
<p>The function attempts to determine whether the input image contains a grid of circles. If it is, the function locates centers of the circles. The function returns a non-zero value if all of the centers have been found and they have been placed in a certain order (row by row, left to right in every row). Otherwise, if the function fails to find all the corners or reorder them, it returns 0.</p>
<p>Sample usage of detecting and drawing the centers of circles: : </p><div class="fragment"><div class="line"><a class="code" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> patternsize(7,7); <span class="comment">//number of centers</span></div><div class="line">Mat gray = ...; <span class="comment">//source image</span></div><div class="line">vector&lt;Point2f&gt; centers; <span class="comment">//this will be filled by the detected centers</span></div><div class="line"></div><div class="line"><span class="keywordtype">bool</span> patternfound = <a class="code" href="../../d9/d0c/group__calib3d.html#ga7f02cd21c8352142890190227628fa80">findCirclesGrid</a>(gray, patternsize, centers);</div><div class="line"></div><div class="line"><a class="code" href="../../d9/d0c/group__calib3d.html#ga6a10b0bb120c4907e5eabbcd22319022">drawChessboardCorners</a>(img, patternsize, Mat(centers), patternfound);</div></div><!-- fragment --> <dl class="section note"><dt>Note</dt><dd>The function requires white space (like a square-thick border, the wider the better) around the board to make the detection more robust in various environments. </dd></dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#gac8fb88c7652a7699743aeb6073ef9b4a">◆ </a></span>findCirclesGrid() <span class="overload">[2/2]</span></h2>
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          <td class="memname">bool cv::findCirclesGrid </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>patternSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>centers</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#ggae515fd11d4c0e5b4162440eaf2094e02a0f3929cc92e83ddce51ed008668db33a">CALIB_CB_SYMMETRIC_GRID</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d9b/group__features2d.html#ga15e1361bda978d83a2bea629b32dfd3c">FeatureDetector</a> &gt; &amp; </td>
          <td class="paramname"><em>blobDetector</em> = <code><a class="el" href="../../d0/d7a/classcv_1_1SimpleBlobDetector.html#a1d7a06c8b8749207a978e42cd8d0cdf6">SimpleBlobDetector::create</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, centers</td><td>=</td><td>cv.findCirclesGrid(</td><td class="paramname">image, patternSize, flags, blobDetector, parameters[, centers]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, centers</td><td>=</td><td>cv.findCirclesGrid(</td><td class="paramname">image, patternSize[, centers[, flags[, blobDetector]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga13f7e34de8fa516a686a56af1196247f">◆ </a></span>findEssentialMat() <span class="overload">[1/4]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findEssentialMat </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>method</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>prob</em> = <code>0.999</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>threshold</em> = <code>1.0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix[, method[, prob[, threshold[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2[, focal[, pp[, method[, prob[, threshold[, mask]]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2[, method[, prob[, threshold[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix1, cameraMatrix2, dist_coeff1, dist_coeff2, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Calculates an essential matrix from the corresponding points in two images. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points1</td><td>Array of N (N &gt;= 5) 2D points from the first image. The point coordinates should be floating-point (single or double precision). </td></tr>
    <tr><td class="paramname">points2</td><td>Array of the second image points of the same size and format as points1 . </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Camera intrinsic matrix \(\cameramatrix{A}\) . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera intrinsic matrix. If this assumption does not hold for your use case, use <code><a class="el" href="../../d9/d0c/group__calib3d.html#ga55c716492470bfe86b0ee9bf3a1f0f7e" title="Computes the ideal point coordinates from the observed point coordinates. ">undistortPoints()</a></code> with <code>P = cv::NoArray()</code> for both cameras to transform image points to normalized image coordinates, which are valid for the identity camera intrinsic matrix. When passing these coordinates, pass the identity matrix for this parameter. </td></tr>
    <tr><td class="paramname">method</td><td>Method for computing an essential matrix.<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a> for the RANSAC algorithm.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0ae59a3f6677ddd05b96a298a6c24fcbe6">LMEDS</a> for the LMedS algorithm. </li>
</ul>
</td></tr>
    <tr><td class="paramname">prob</td><td>Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct. </td></tr>
    <tr><td class="paramname">threshold</td><td>Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise. </td></tr>
    <tr><td class="paramname">mask</td><td>Output array of N elements, every element of which is set to 0 for outliers and to 1 for the other points. The array is computed only in the RANSAC and LMedS methods.</td></tr>
  </table>
  </dd>
</dl>
<p>This function estimates essential matrix based on the five-point algorithm solver in <a class="el" href="../../d0/de3/citelist.html#CITEREF_Nister03">[187]</a> . <a class="el" href="../../d0/de3/citelist.html#CITEREF_SteweniusCFS">[229]</a> is also a related. The epipolar geometry is described by the following equation:</p>
<p class="formulaDsp">
\[[p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\]
</p>
<p>where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the second images, respectively. The result of this function may be passed further to decomposeEssentialMat or recoverPose to recover the relative pose between cameras. </p>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga0c86f6478f36d5be6e450751bbf4fec0">◆ </a></span>findEssentialMat() <span class="overload">[2/4]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findEssentialMat </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>focal</em> = <code>1.0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga32986d8c6fd05949688352abd112509f">Point2d</a> </td>
          <td class="paramname"><em>pp</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#ga32986d8c6fd05949688352abd112509f">Point2d</a>(0, 0)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>method</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>prob</em> = <code>0.999</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>threshold</em> = <code>1.0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix[, method[, prob[, threshold[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2[, focal[, pp[, method[, prob[, threshold[, mask]]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2[, method[, prob[, threshold[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix1, cameraMatrix2, dist_coeff1, dist_coeff2, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points1</td><td>Array of N (N &gt;= 5) 2D points from the first image. The point coordinates should be floating-point (single or double precision). </td></tr>
    <tr><td class="paramname">points2</td><td>Array of the second image points of the same size and format as points1 . </td></tr>
    <tr><td class="paramname">focal</td><td>focal length of the camera. Note that this function assumes that points1 and points2 are feature points from cameras with same focal length and principal point. </td></tr>
    <tr><td class="paramname">pp</td><td>principal point of the camera. </td></tr>
    <tr><td class="paramname">method</td><td>Method for computing a fundamental matrix.<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a> for the RANSAC algorithm.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0ae59a3f6677ddd05b96a298a6c24fcbe6">LMEDS</a> for the LMedS algorithm. </li>
</ul>
</td></tr>
    <tr><td class="paramname">threshold</td><td>Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise. </td></tr>
    <tr><td class="paramname">prob</td><td>Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct. </td></tr>
    <tr><td class="paramname">mask</td><td>Output array of N elements, every element of which is set to 0 for outliers and to 1 for the other points. The array is computed only in the RANSAC and LMedS methods.</td></tr>
  </table>
  </dd>
</dl>
<p>This function differs from the one above that it computes camera intrinsic matrix from focal length and principal point:</p>
<p class="formulaDsp">
\[A = \begin{bmatrix} f &amp; 0 &amp; x_{pp} \\ 0 &amp; f &amp; y_{pp} \\ 0 &amp; 0 &amp; 1 \end{bmatrix}\]
</p>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#gafafd52c0372b12dd582597bfb1330430">◆ </a></span>findEssentialMat() <span class="overload">[3/4]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findEssentialMat </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>method</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>prob</em> = <code>0.999</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>threshold</em> = <code>1.0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix[, method[, prob[, threshold[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2[, focal[, pp[, method[, prob[, threshold[, mask]]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2[, method[, prob[, threshold[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix1, cameraMatrix2, dist_coeff1, dist_coeff2, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Calculates an essential matrix from the corresponding points in two images from potentially two different cameras. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points1</td><td>Array of N (N &gt;= 5) 2D points from the first image. The point coordinates should be floating-point (single or double precision). </td></tr>
    <tr><td class="paramname">points2</td><td>Array of the second image points of the same size and format as points1 . </td></tr>
    <tr><td class="paramname">cameraMatrix1</td><td>Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera matrix. If this assumption does not hold for your use case, use <code><a class="el" href="../../d9/d0c/group__calib3d.html#ga55c716492470bfe86b0ee9bf3a1f0f7e" title="Computes the ideal point coordinates from the observed point coordinates. ">undistortPoints()</a></code> with <code>P = cv::NoArray()</code> for both cameras to transform image points to normalized image coordinates, which are valid for the identity camera matrix. When passing these coordinates, pass the identity matrix for this parameter. </td></tr>
    <tr><td class="paramname">cameraMatrix2</td><td>Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera matrix. If this assumption does not hold for your use case, use <code><a class="el" href="../../d9/d0c/group__calib3d.html#ga55c716492470bfe86b0ee9bf3a1f0f7e" title="Computes the ideal point coordinates from the observed point coordinates. ">undistortPoints()</a></code> with <code>P = cv::NoArray()</code> for both cameras to transform image points to normalized image coordinates, which are valid for the identity camera matrix. When passing these coordinates, pass the identity matrix for this parameter. </td></tr>
    <tr><td class="paramname">distCoeffs1</td><td>Input vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">distCoeffs2</td><td>Input vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">method</td><td>Method for computing an essential matrix.<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a> for the RANSAC algorithm.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0ae59a3f6677ddd05b96a298a6c24fcbe6">LMEDS</a> for the LMedS algorithm. </li>
</ul>
</td></tr>
    <tr><td class="paramname">prob</td><td>Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct. </td></tr>
    <tr><td class="paramname">threshold</td><td>Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise. </td></tr>
    <tr><td class="paramname">mask</td><td>Output array of N elements, every element of which is set to 0 for outliers and to 1 for the other points. The array is computed only in the RANSAC and LMedS methods.</td></tr>
  </table>
  </dd>
</dl>
<p>This function estimates essential matrix based on the five-point algorithm solver in <a class="el" href="../../d0/de3/citelist.html#CITEREF_Nister03">[187]</a> . <a class="el" href="../../d0/de3/citelist.html#CITEREF_SteweniusCFS">[229]</a> is also a related. The epipolar geometry is described by the following equation:</p>
<p class="formulaDsp">
\[[p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\]
</p>
<p>where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the second images, respectively. The result of this function may be passed further to decomposeEssentialMat or recoverPose to recover the relative pose between cameras. </p>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#gaaf096545b80869513828065ba38c1602">◆ </a></span>findEssentialMat() <span class="overload">[4/4]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findEssentialMat </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>dist_coeff1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>dist_coeff2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a> &amp; </td>
          <td class="paramname"><em>params</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix[, method[, prob[, threshold[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2[, focal[, pp[, method[, prob[, threshold[, mask]]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2[, method[, prob[, threshold[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findEssentialMat(</td><td class="paramname">points1, points2, cameraMatrix1, cameraMatrix2, dist_coeff1, dist_coeff2, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga59b0d57f46f8677fb5904294a23d404a">◆ </a></span>findFundamentalMat() <span class="overload">[1/4]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findFundamentalMat </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>method</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>ransacReprojThreshold</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>confidence</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>maxIters</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2, method, ransacReprojThreshold, confidence, maxIters[, mask]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2[, method[, ransacReprojThreshold[, confidence[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Calculates a fundamental matrix from the corresponding points in two images. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir"></td><td class="paramname">points1</td><td>Array of N points from the first image. The point coordinates should be floating-point (single or double precision). </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">points2</td><td>Array of the second image points of the same size and format as points1 . </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">method</td><td>Method for computing a fundamental matrix.<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3ba8ccd232f3e7691efae984c76bb99e047">FM_7POINT</a> for a 7-point algorithm. \(N = 7\)</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3ba3960f8c87052a64c3297704db34aaedf">FM_8POINT</a> for an 8-point algorithm. \(N \ge 8\)</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3baeb30cc6b8fc94600bc04f16c14644fdd">FM_RANSAC</a> for the RANSAC algorithm. \(N \ge 8\)</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3ba8a81ff35b40a5de086bc91dbc1ef8bba">FM_LMEDS</a> for the LMedS algorithm. \(N \ge 8\) </li>
</ul>
</td></tr>
    <tr><td class="paramdir"></td><td class="paramname">ransacReprojThreshold</td><td>Parameter used only for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise. </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">confidence</td><td>Parameter used for the RANSAC and LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">mask</td><td>optional output mask </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">maxIters</td><td>The maximum number of robust method iterations.</td></tr>
  </table>
  </dd>
</dl>
<p>The epipolar geometry is described by the following equation:</p>
<p class="formulaDsp">
\[[p_2; 1]^T F [p_1; 1] = 0\]
</p>
<p>where \(F\) is a fundamental matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the second images, respectively.</p>
<p>The function calculates the fundamental matrix using one of four methods listed above and returns the found fundamental matrix. Normally just one matrix is found. But in case of the 7-point algorithm, the function may return up to 3 solutions ( \(9 \times 3\) matrix that stores all 3 matrices sequentially).</p>
<p>The calculated fundamental matrix may be passed further to computeCorrespondEpilines that finds the epipolar lines corresponding to the specified points. It can also be passed to stereoRectifyUncalibrated to compute the rectification transformation. : </p><div class="fragment"><div class="line"><span class="comment">// Example. Estimation of fundamental matrix using the RANSAC algorithm</span></div><div class="line"><span class="keywordtype">int</span> point_count = 100;</div><div class="line">vector&lt;Point2f&gt; points1(point_count);</div><div class="line">vector&lt;Point2f&gt; points2(point_count);</div><div class="line"></div><div class="line"><span class="comment">// initialize the points here ...</span></div><div class="line"><span class="keywordflow">for</span>( <span class="keywordtype">int</span> i = 0; i &lt; point_count; i++ )</div><div class="line">{</div><div class="line">    points1[i] = ...;</div><div class="line">    points2[i] = ...;</div><div class="line">}</div><div class="line"></div><div class="line">Mat fundamental_matrix =</div><div class="line"> <a class="code" href="../../d9/d0c/group__calib3d.html#ga59b0d57f46f8677fb5904294a23d404a">findFundamentalMat</a>(points1, points2, <a class="code" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3baeb30cc6b8fc94600bc04f16c14644fdd">FM_RANSAC</a>, 3, 0.99);</div></div><!-- fragment --> 
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<h2 class="memtitle"><span class="permalink"><a href="#gae420abc34eaa03d0c6a67359609d8429">◆ </a></span>findFundamentalMat() <span class="overload">[2/4]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findFundamentalMat </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>method</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3baeb30cc6b8fc94600bc04f16c14644fdd">FM_RANSAC</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>ransacReprojThreshold</em> = <code>3.</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>confidence</em> = <code>0.99</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2, method, ransacReprojThreshold, confidence, maxIters[, mask]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2[, method[, ransacReprojThreshold[, confidence[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findFundamentalMat </td>
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          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>method</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga04495204613753c836e07d31c575bf3baeb30cc6b8fc94600bc04f16c14644fdd">FM_RANSAC</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>ransacReprojThreshold</em> = <code>3.</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>confidence</em> = <code>0.99</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2, method, ransacReprojThreshold, confidence, maxIters[, mask]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2[, method[, ransacReprojThreshold[, confidence[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
</div>
</div>
<a id="gae850fad056e407befb9e2db04dd9e509"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gae850fad056e407befb9e2db04dd9e509">◆ </a></span>findFundamentalMat() <span class="overload">[4/4]</span></h2>
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        <tr>
          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findFundamentalMat </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a> &amp; </td>
          <td class="paramname"><em>params</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2, method, ransacReprojThreshold, confidence, maxIters[, mask]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2[, method[, ransacReprojThreshold[, confidence[, mask]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findFundamentalMat(</td><td class="paramname">points1, points2, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
</div>
</div>
<a id="ga4abc2ece9fab9398f2e560d53c8c9780"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga4abc2ece9fab9398f2e560d53c8c9780">◆ </a></span>findHomography() <span class="overload">[1/3]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findHomography </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>srcPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>dstPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>method</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>ransacReprojThreshold</em> = <code>3</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int </td>
          <td class="paramname"><em>maxIters</em> = <code>2000</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double </td>
          <td class="paramname"><em>confidence</em> = <code>0.995</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findHomography(</td><td class="paramname">srcPoints, dstPoints[, method[, ransacReprojThreshold[, mask[, maxIters[, confidence]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findHomography(</td><td class="paramname">srcPoints, dstPoints, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds a perspective transformation between two planes. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">srcPoints</td><td>Coordinates of the points in the original plane, a matrix of the type CV_32FC2 or vector&lt;Point2f&gt; . </td></tr>
    <tr><td class="paramname">dstPoints</td><td>Coordinates of the points in the target plane, a matrix of the type CV_32FC2 or a vector&lt;Point2f&gt; . </td></tr>
    <tr><td class="paramname">method</td><td>Method used to compute a homography matrix. The following methods are possible:<ul>
<li><b>0</b> - a regular method using all the points, i.e., the least squares method</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a> - RANSAC-based robust method</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0ae59a3f6677ddd05b96a298a6c24fcbe6">LMEDS</a> - Least-Median robust method</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a6bba1f5405e6fcc199a6265d9b146359">RHO</a> - PROSAC-based robust method </li>
</ul>
</td></tr>
    <tr><td class="paramname">ransacReprojThreshold</td><td>Maximum allowed reprojection error to treat a point pair as an inlier (used in the RANSAC and RHO methods only). That is, if <p class="formulaDsp">
\[\| \texttt{dstPoints} _i - \texttt{convertPointsHomogeneous} ( \texttt{H} * \texttt{srcPoints} _i) \|_2 &gt; \texttt{ransacReprojThreshold}\]
</p>
 then the point \(i\) is considered as an outlier. If srcPoints and dstPoints are measured in pixels, it usually makes sense to set this parameter somewhere in the range of 1 to 10. </td></tr>
    <tr><td class="paramname">mask</td><td>Optional output mask set by a robust method ( RANSAC or LMeDS ). Note that the input mask values are ignored. </td></tr>
    <tr><td class="paramname">maxIters</td><td>The maximum number of RANSAC iterations. </td></tr>
    <tr><td class="paramname">confidence</td><td>Confidence level, between 0 and 1.</td></tr>
  </table>
  </dd>
</dl>
<p>The function finds and returns the perspective transformation \(H\) between the source and the destination planes:</p>
<p class="formulaDsp">
\[s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\]
</p>
<p>so that the back-projection error</p>
<p class="formulaDsp">
\[\sum _i \left ( x'_i- \frac{h_{11} x_i + h_{12} y_i + h_{13}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2+ \left ( y'_i- \frac{h_{21} x_i + h_{22} y_i + h_{23}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2\]
</p>
<p>is minimized. If the parameter method is set to the default value 0, the function uses all the point pairs to compute an initial homography estimate with a simple least-squares scheme.</p>
<p>However, if not all of the point pairs ( \(srcPoints_i\), \(dstPoints_i\) ) fit the rigid perspective transformation (that is, there are some outliers), this initial estimate will be poor. In this case, you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different random subsets of the corresponding point pairs (of four pairs each, collinear pairs are discarded), estimate the homography matrix using this subset and a simple least-squares algorithm, and then compute the quality/goodness of the computed homography (which is the number of inliers for RANSAC or the least median re-projection error for LMeDS). The best subset is then used to produce the initial estimate of the homography matrix and the mask of inliers/outliers.</p>
<p>Regardless of the method, robust or not, the computed homography matrix is refined further (using inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the re-projection error even more.</p>
<p>The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to distinguish inliers from outliers. The method LMeDS does not need any threshold but it works correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the noise is rather small, use the default method (method=0).</p>
<p>The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is determined up to a scale. Thus, it is normalized so that \(h_{33}=1\). Note that whenever an \(H\) matrix cannot be estimated, an empty one will be returned.</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../da/d54/group__imgproc__transform.html#ga8f6d378f9f8eebb5cb55cd3ae295a999" title="Calculates an affine transform from three pairs of the corresponding points. ">getAffineTransform</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga27865b1d26bac9ce91efaee83e94d4dd" title="Computes an optimal affine transformation between two 2D point sets. ">estimateAffine2D</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#gad767faff73e9cbd8b9d92b955b50062d" title="Computes an optimal limited affine transformation with 4 degrees of freedom between two 2D point sets...">estimateAffinePartial2D</a>, <a class="el" href="../../da/d54/group__imgproc__transform.html#ga20f62aa3235d869c9956436c870893ae" title="Calculates a perspective transform from four pairs of the corresponding points. ">getPerspectiveTransform</a>, <a class="el" href="../../da/d54/group__imgproc__transform.html#gaf73673a7e8e18ec6963e3774e6a94b87" title="Applies a perspective transformation to an image. ">warpPerspective</a>, <a class="el" href="../../d2/de8/group__core__array.html#gad327659ac03e5fd6894b90025e6900a7" title="Performs the perspective matrix transformation of vectors. ">perspectiveTransform</a> </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="../../de/d45/samples_2cpp_2tutorial_code_2features2D_2Homography_2decompose_homography_8cpp-example.html#a22">samples/cpp/tutorial_code/features2D/Homography/decompose_homography.cpp</a>, <a class="el" href="../../d9/d47/samples_2cpp_2tutorial_code_2features2D_2Homography_2homography_from_camera_displacement_8cpp-example.html#a24">samples/cpp/tutorial_code/features2D/Homography/homography_from_camera_displacement.cpp</a>, and <a class="el" href="../../d0/d92/samples_2cpp_2tutorial_code_2features2D_2Homography_2pose_from_homography_8cpp-example.html#a16">samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp</a>.</dd>
</dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#gafd3ef89257e27d5235f4467cbb1b6a63">◆ </a></span>findHomography() <span class="overload">[2/3]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findHomography </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>srcPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>dstPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>method</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>ransacReprojThreshold</em> = <code>3</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findHomography(</td><td class="paramname">srcPoints, dstPoints[, method[, ransacReprojThreshold[, mask[, maxIters[, confidence]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findHomography(</td><td class="paramname">srcPoints, dstPoints, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga4b3841447530523e5272ec05c5d1e411">◆ </a></span>findHomography() <span class="overload">[3/3]</span></h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::findHomography </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>srcPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>dstPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a> &amp; </td>
          <td class="paramname"><em>params</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findHomography(</td><td class="paramname">srcPoints, dstPoints[, method[, ransacReprojThreshold[, mask[, maxIters[, confidence]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, mask</td><td>=</td><td>cv.findHomography(</td><td class="paramname">srcPoints, dstPoints, params[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga744529385e88ef7bc841cbe04b35bfbf">◆ </a></span>getDefaultNewCameraMatrix()</h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::getDefaultNewCameraMatrix </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imgsize</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>centerPrincipalPoint</em> = <code>false</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.getDefaultNewCameraMatrix(</td><td class="paramname">cameraMatrix[, imgsize[, centerPrincipalPoint]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Returns the default new camera matrix. </p>
<p>The function returns the camera matrix that is either an exact copy of the input cameraMatrix (when centerPrinicipalPoint=false ), or the modified one (when centerPrincipalPoint=true).</p>
<p>In the latter case, the new camera matrix will be:</p>
<p class="formulaDsp">
\[\begin{bmatrix} f_x &amp;&amp; 0 &amp;&amp; ( \texttt{imgSize.width} -1)*0.5 \\ 0 &amp;&amp; f_y &amp;&amp; ( \texttt{imgSize.height} -1)*0.5 \\ 0 &amp;&amp; 0 &amp;&amp; 1 \end{bmatrix} ,\]
</p>
<p>where \(f_x\) and \(f_y\) are \((0,0)\) and \((1,1)\) elements of cameraMatrix, respectively.</p>
<p>By default, the undistortion functions in OpenCV (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga7dfb72c9cf9780a347fbe3d1c47e5d5a" title="Computes the undistortion and rectification transformation map. ">initUndistortRectifyMap</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga69f2545a8b62a6b0fc2ee060dc30559d" title="Transforms an image to compensate for lens distortion. ">undistort</a>) do not move the principal point. However, when you work with stereo, it is important to move the principal points in both views to the same y-coordinate (which is required by most of stereo correspondence algorithms), and may be to the same x-coordinate too. So, you can form the new camera matrix for each view where the principal points are located at the center.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cameraMatrix</td><td>Input camera matrix. </td></tr>
    <tr><td class="paramname">imgsize</td><td>Camera view image size in pixels. </td></tr>
    <tr><td class="paramname">centerPrincipalPoint</td><td>Location of the principal point in the new camera matrix. The parameter indicates whether this location should be at the image center or not. </td></tr>
  </table>
  </dd>
</dl>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga7a6c4e032c97f03ba747966e6ad862b1">◆ </a></span>getOptimalNewCameraMatrix()</h2>
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      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::getOptimalNewCameraMatrix </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>alpha</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>newImgSize</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> * </td>
          <td class="paramname"><em>validPixROI</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>centerPrincipalPoint</em> = <code>false</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, validPixROI</td><td>=</td><td>cv.getOptimalNewCameraMatrix(</td><td class="paramname">cameraMatrix, distCoeffs, imageSize, alpha[, newImgSize[, centerPrincipalPoint]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Returns the new camera intrinsic matrix based on the free scaling parameter. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cameraMatrix</td><td>Input camera intrinsic matrix. </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">imageSize</td><td>Original image size. </td></tr>
    <tr><td class="paramname">alpha</td><td>Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image). See stereoRectify for details. </td></tr>
    <tr><td class="paramname">newImgSize</td><td>Image size after rectification. By default, it is set to imageSize . </td></tr>
    <tr><td class="paramname">validPixROI</td><td>Optional output rectangle that outlines all-good-pixels region in the undistorted image. See roi1, roi2 description in stereoRectify . </td></tr>
    <tr><td class="paramname">centerPrincipalPoint</td><td>Optional flag that indicates whether in the new camera intrinsic matrix the principal point should be at the image center or not. By default, the principal point is chosen to best fit a subset of the source image (determined by alpha) to the corrected image. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>new_camera_matrix Output new camera intrinsic matrix.</dd></dl>
<p>The function computes and returns the optimal new camera intrinsic matrix based on the free scaling parameter. By varying this parameter, you may retrieve only sensible pixels alpha=0 , keep all the original image pixels if there is valuable information in the corners alpha=1 , or get something in between. When alpha&gt;0 , the undistorted result is likely to have some black pixels corresponding to "virtual" pixels outside of the captured distorted image. The original camera intrinsic matrix, distortion coefficients, the computed new camera intrinsic matrix, and newImageSize should be passed to initUndistortRectifyMap to produce the maps for remap . </p>
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<h2 class="memtitle"><span class="permalink"><a href="#gac3047e553195230138210ff645ca29eb">◆ </a></span>getValidDisparityROI()</h2>
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          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> cv::getValidDisparityROI </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> </td>
          <td class="paramname"><em>roi1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> </td>
          <td class="paramname"><em>roi2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>minDisparity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>numberOfDisparities</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>blockSize</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.getValidDisparityROI(</td><td class="paramname">roi1, roi2, minDisparity, numberOfDisparities, blockSize</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by <a class="el" href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6" title="Computes rectification transforms for each head of a calibrated stereo camera. ">cv::stereoRectify()</a>) </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga8132c7dbbb61738cc3510bebbdffde55">◆ </a></span>initCameraMatrix2D()</h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::initCameraMatrix2D </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>aspectRatio</em> = <code>1.0</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.initCameraMatrix2D(</td><td class="paramname">objectPoints, imagePoints, imageSize[, aspectRatio]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds an initial camera intrinsic matrix from 3D-2D point correspondences. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>Vector of vectors of the calibration pattern points in the calibration pattern coordinate space. In the old interface all the per-view vectors are concatenated. See calibrateCamera for details. </td></tr>
    <tr><td class="paramname">imagePoints</td><td>Vector of vectors of the projections of the calibration pattern points. In the old interface all the per-view vectors are concatenated. </td></tr>
    <tr><td class="paramname">imageSize</td><td>Image size in pixels used to initialize the principal point. </td></tr>
    <tr><td class="paramname">aspectRatio</td><td>If it is zero or negative, both \(f_x\) and \(f_y\) are estimated independently. Otherwise, \(f_x = f_y * \texttt{aspectRatio}\) .</td></tr>
  </table>
  </dd>
</dl>
<p>The function estimates and returns an initial camera intrinsic matrix for the camera calibration process. Currently, the function only supports planar calibration patterns, which are patterns where each object point has z-coordinate =0. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga7dfb72c9cf9780a347fbe3d1c47e5d5a">◆ </a></span>initUndistortRectifyMap()</h2>
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          <td class="memname">void cv::initUndistortRectifyMap </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>newCameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>size</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>m1type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>map1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>map2</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>map1, map2</td><td>=</td><td>cv.initUndistortRectifyMap(</td><td class="paramname">cameraMatrix, distCoeffs, R, newCameraMatrix, size, m1type[, map1[, map2]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes the undistortion and rectification transformation map. </p>
<p>The function computes the joint undistortion and rectification transformation and represents the result in the form of maps for remap. The undistorted image looks like original, as if it is captured with a camera using the camera matrix =newCameraMatrix and zero distortion. In case of a monocular camera, newCameraMatrix is usually equal to cameraMatrix, or it can be computed by <a class="el" href="../../d9/d0c/group__calib3d.html#ga7a6c4e032c97f03ba747966e6ad862b1" title="Returns the new camera intrinsic matrix based on the free scaling parameter. ">getOptimalNewCameraMatrix</a> for a better control over scaling. In case of a stereo camera, newCameraMatrix is normally set to P1 or P2 computed by <a class="el" href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6" title="Computes rectification transforms for each head of a calibrated stereo camera. ">stereoRectify</a> .</p>
<p>Also, this new camera is oriented differently in the coordinate space, according to R. That, for example, helps to align two heads of a stereo camera so that the epipolar lines on both images become horizontal and have the same y- coordinate (in case of a horizontally aligned stereo camera).</p>
<p>The function actually builds the maps for the inverse mapping algorithm that is used by remap. That is, for each pixel \((u, v)\) in the destination (corrected and rectified) image, the function computes the corresponding coordinates in the source image (that is, in the original image from camera). The following process is applied: </p><p class="formulaDsp">
\[ \begin{array}{l} x \leftarrow (u - {c'}_x)/{f'}_x \\ y \leftarrow (v - {c'}_y)/{f'}_y \\ {[X\,Y\,W]} ^T \leftarrow R^{-1}*[x \, y \, 1]^T \\ x' \leftarrow X/W \\ y' \leftarrow Y/W \\ r^2 \leftarrow x'^2 + y'^2 \\ x'' \leftarrow x' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + 2p_1 x' y' + p_2(r^2 + 2 x'^2) + s_1 r^2 + s_2 r^4\\ y'' \leftarrow y' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + p_1 (r^2 + 2 y'^2) + 2 p_2 x' y' + s_3 r^2 + s_4 r^4 \\ s\vecthree{x'''}{y'''}{1} = \vecthreethree{R_{33}(\tau_x, \tau_y)}{0}{-R_{13}((\tau_x, \tau_y)} {0}{R_{33}(\tau_x, \tau_y)}{-R_{23}(\tau_x, \tau_y)} {0}{0}{1} R(\tau_x, \tau_y) \vecthree{x''}{y''}{1}\\ map_x(u,v) \leftarrow x''' f_x + c_x \\ map_y(u,v) \leftarrow y''' f_y + c_y \end{array} \]
</p>
<p> where \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\) are the distortion coefficients.</p>
<p>In case of a stereo camera, this function is called twice: once for each camera head, after stereoRectify, which in its turn is called after <a class="el" href="../../d9/d0c/group__calib3d.html#ga91018d80e2a93ade37539f01e6f07de5" title="Calibrates a stereo camera set up. This function finds the intrinsic parameters for each of the two c...">stereoCalibrate</a>. But if the stereo camera was not calibrated, it is still possible to compute the rectification transformations directly from the fundamental matrix using <a class="el" href="../../d9/d0c/group__calib3d.html#gaadc5b14471ddc004939471339294f052" title="Computes a rectification transform for an uncalibrated stereo camera. ">stereoRectifyUncalibrated</a>. For each camera, the function computes homography H as the rectification transformation in a pixel domain, not a rotation matrix R in 3D space. R can be computed from H as </p><p class="formulaDsp">
\[\texttt{R} = \texttt{cameraMatrix} ^{-1} \cdot \texttt{H} \cdot \texttt{cameraMatrix}\]
</p>
<p> where cameraMatrix can be chosen arbitrarily.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cameraMatrix</td><td>Input camera matrix \(A=\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">R</td><td>Optional rectification transformation in the object space (3x3 matrix). R1 or R2 , computed by <a class="el" href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6" title="Computes rectification transforms for each head of a calibrated stereo camera. ">stereoRectify</a> can be passed here. If the matrix is empty, the identity transformation is assumed. In cvInitUndistortMap R assumed to be an identity matrix. </td></tr>
    <tr><td class="paramname">newCameraMatrix</td><td>New camera matrix \(A'=\vecthreethree{f_x'}{0}{c_x'}{0}{f_y'}{c_y'}{0}{0}{1}\). </td></tr>
    <tr><td class="paramname">size</td><td>Undistorted image size. </td></tr>
    <tr><td class="paramname">m1type</td><td>Type of the first output map that can be CV_32FC1, CV_32FC2 or CV_16SC2, see <a class="el" href="../../da/d54/group__imgproc__transform.html#ga9156732fa8f01be9ebd1a194f2728b7f" title="Converts image transformation maps from one representation to another. ">convertMaps</a> </td></tr>
    <tr><td class="paramname">map1</td><td>The first output map. </td></tr>
    <tr><td class="paramname">map2</td><td>The second output map. </td></tr>
  </table>
  </dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ga9185f4fbe1ad74af2c56a392393cf9f4">◆ </a></span>initWideAngleProjMap() <span class="overload">[1/2]</span></h2>
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          <td class="memname">float cv::initWideAngleProjMap </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>destImageWidth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>m1type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>map1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>map2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">enum <a class="el" href="../../d9/d0c/group__calib3d.html#gace497823594b601f2094d32dde6a3c94">UndistortTypes</a> </td>
          <td class="paramname"><em>projType</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#ggace497823594b601f2094d32dde6a3c94a62d8708c29117854d6903d8e1155d8c0">PROJ_SPHERICAL_EQRECT</a></code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>alpha</em> = <code>0</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>initializes maps for <a class="el" href="../../da/d54/group__imgproc__transform.html#gab75ef31ce5cdfb5c44b6da5f3b908ea4" title="Applies a generic geometrical transformation to an image. ">remap</a> for wide-angle </p>
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<h2 class="memtitle"><span class="permalink"><a href="#gacc07e561972abd7dcfe4a3dc00b7bb8b">◆ </a></span>initWideAngleProjMap() <span class="overload">[2/2]</span></h2>
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          <td class="memname">static float cv::initWideAngleProjMap </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>destImageWidth</em>, </td>
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          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>m1type</em>, </td>
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          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>map1</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>map2</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>projType</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>alpha</em> = <code>0</code> </td>
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          <td>)</td>
          <td></td><td></td>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga905541c1275852eabff7dbdfbc10d160">◆ </a></span>matMulDeriv()</h2>
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          <td class="memname">void cv::matMulDeriv </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>A</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>B</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dABdA</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dABdB</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>dABdA, dABdB</td><td>=</td><td>cv.matMulDeriv(</td><td class="paramname">A, B[, dABdA[, dABdB]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes partial derivatives of the matrix product for each multiplied matrix. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">A</td><td>First multiplied matrix. </td></tr>
    <tr><td class="paramname">B</td><td>Second multiplied matrix. </td></tr>
    <tr><td class="paramname">dABdA</td><td>First output derivative matrix d(A*B)/dA of size \(\texttt{A.rows*B.cols} \times {A.rows*A.cols}\) . </td></tr>
    <tr><td class="paramname">dABdB</td><td>Second output derivative matrix d(A*B)/dB of size \(\texttt{A.rows*B.cols} \times {B.rows*B.cols}\) .</td></tr>
  </table>
  </dd>
</dl>
<p>The function computes partial derivatives of the elements of the matrix product \(A*B\) with regard to the elements of each of the two input matrices. The function is used to compute the Jacobian matrices in stereoCalibrate but can also be used in any other similar optimization function. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga1019495a2c8d1743ed5cc23fa0daff8c">◆ </a></span>projectPoints()</h2>
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          <td class="memname">void cv::projectPoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
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          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>rvec</em>, </td>
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          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>tvec</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
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          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>jacobian</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
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          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>aspectRatio</em> = <code>0</code> </td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>imagePoints, jacobian</td><td>=</td><td>cv.projectPoints(</td><td class="paramname">objectPoints, rvec, tvec, cameraMatrix, distCoeffs[, imagePoints[, jacobian[, aspectRatio]]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Projects 3D points to an image plane. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>Array of object points expressed wrt. the world coordinate frame. A 3xN/Nx3 1-channel or 1xN/Nx1 3-channel (or vector&lt;Point3f&gt; ), where N is the number of points in the view. </td></tr>
    <tr><td class="paramname">rvec</td><td>The rotation vector (<a class="el" href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">Rodrigues</a>) that, together with tvec, performs a change of basis from world to camera coordinate system, see <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">calibrateCamera</a> for details. </td></tr>
    <tr><td class="paramname">tvec</td><td>The translation vector, see parameter description above. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Camera intrinsic matrix \(\cameramatrix{A}\) . </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \(\distcoeffs\) . If the vector is empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">imagePoints</td><td>Output array of image points, 1xN/Nx1 2-channel, or vector&lt;Point2f&gt; . </td></tr>
    <tr><td class="paramname">jacobian</td><td>Optional output 2Nx(10+&lt;numDistCoeffs&gt;) jacobian matrix of derivatives of image points with respect to components of the rotation vector, translation vector, focal lengths, coordinates of the principal point and the distortion coefficients. In the old interface different components of the jacobian are returned via different output parameters. </td></tr>
    <tr><td class="paramname">aspectRatio</td><td>Optional "fixed aspect ratio" parameter. If the parameter is not 0, the function assumes that the aspect ratio ( \(f_x / f_y\)) is fixed and correspondingly adjusts the jacobian matrix.</td></tr>
  </table>
  </dd>
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<p>The function computes the 2D projections of 3D points to the image plane, given intrinsic and extrinsic camera parameters. Optionally, the function computes Jacobians -matrices of partial derivatives of image points coordinates (as functions of all the input parameters) with respect to the particular parameters, intrinsic and/or extrinsic. The Jacobians are used during the global optimization in <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">calibrateCamera</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d">solvePnP</a>, and <a class="el" href="../../d9/d0c/group__calib3d.html#ga91018d80e2a93ade37539f01e6f07de5">stereoCalibrate</a>. The function itself can also be used to compute a re-projection error, given the current intrinsic and extrinsic parameters.</p>
<dl class="section note"><dt>Note</dt><dd>By setting rvec = tvec = \([0, 0, 0]\), or by setting cameraMatrix to a 3x3 identity matrix, or by passing zero distortion coefficients, one can get various useful partial cases of the function. This means, one can compute the distorted coordinates for a sparse set of points or apply a perspective transformation (and also compute the derivatives) in the ideal zero-distortion setup. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#gadb7d2dfcc184c1d2f496d8639f4371c0">◆ </a></span>recoverPose() <span class="overload">[1/3]</span></h2>
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          <td class="memname">int cv::recoverPose </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>E</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>t</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, R, t, mask</td><td>=</td><td>cv.recoverPose(</td><td class="paramname">E, points1, points2, cameraMatrix[, R[, t[, mask]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, R, t, mask</td><td>=</td><td>cv.recoverPose(</td><td class="paramname">E, points1, points2[, R[, t[, focal[, pp[, mask]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, R, t, mask, triangulatedPoints</td><td>=</td><td>cv.recoverPose(</td><td class="paramname">E, points1, points2, cameraMatrix, distanceThresh[, R[, t[, mask[, triangulatedPoints]]]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Recovers the relative camera rotation and the translation from an estimated essential matrix and the corresponding points in two images, using cheirality check. Returns the number of inliers that pass the check. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">E</td><td>The input essential matrix. </td></tr>
    <tr><td class="paramname">points1</td><td>Array of N 2D points from the first image. The point coordinates should be floating-point (single or double precision). </td></tr>
    <tr><td class="paramname">points2</td><td>Array of the second image points of the same size and format as points1 . </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Camera intrinsic matrix \(\cameramatrix{A}\) . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera intrinsic matrix. </td></tr>
    <tr><td class="paramname">R</td><td>Output rotation matrix. Together with the translation vector, this matrix makes up a tuple that performs a change of basis from the first camera's coordinate system to the second camera's coordinate system. Note that, in general, t can not be used for this tuple, see the parameter described below. </td></tr>
    <tr><td class="paramname">t</td><td>Output translation vector. This vector is obtained by <a class="el" href="../../d9/d0c/group__calib3d.html#ga54a2f5b3f8aeaf6c76d4a31dece85d5d">decomposeEssentialMat</a> and therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit length. </td></tr>
    <tr><td class="paramname">mask</td><td>Input/output mask for inliers in points1 and points2. If it is not empty, then it marks inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to recover pose. In the output mask only inliers which pass the cheirality check.</td></tr>
  </table>
  </dd>
</dl>
<p>This function decomposes an essential matrix using <a class="el" href="../../d9/d0c/group__calib3d.html#ga54a2f5b3f8aeaf6c76d4a31dece85d5d">decomposeEssentialMat</a> and then verifies possible pose hypotheses by doing cheirality check. The cheirality check means that the triangulated 3D points should have positive depth. Some details can be found in <a class="el" href="../../d0/de3/citelist.html#CITEREF_Nister03">[187]</a>.</p>
<p>This function can be used to process the output E and mask from <a class="el" href="../../d9/d0c/group__calib3d.html#ga13f7e34de8fa516a686a56af1196247f">findEssentialMat</a>. In this scenario, points1 and points2 are the same input for findEssentialMat.: </p><div class="fragment"><div class="line"><span class="comment">// Example. Estimation of fundamental matrix using the RANSAC algorithm</span></div><div class="line"><span class="keywordtype">int</span> point_count = 100;</div><div class="line">vector&lt;Point2f&gt; points1(point_count);</div><div class="line">vector&lt;Point2f&gt; points2(point_count);</div><div class="line"></div><div class="line"><span class="comment">// initialize the points here ...</span></div><div class="line"><span class="keywordflow">for</span>( <span class="keywordtype">int</span> i = 0; i &lt; point_count; i++ )</div><div class="line">{</div><div class="line">    points1[i] = ...;</div><div class="line">    points2[i] = ...;</div><div class="line">}</div><div class="line"></div><div class="line"><span class="comment">// cametra matrix with both focal lengths = 1, and principal point = (0, 0)</span></div><div class="line">Mat cameraMatrix = <a class="code" href="../../d3/d63/classcv_1_1Mat.html#a2cf9b9acde7a9852542bbc20ef851ed2">Mat::eye</a>(3, 3, <a class="code" href="../../d1/d1b/group__core__hal__interface.html#ga30a562691cc5987bc88eb7bb7a8faf2b">CV_64F</a>);</div><div class="line"></div><div class="line">Mat E, R, t, <a class="code" href="../../da/dd3/group__gapi__math.html#gaba076d51941328cb7ca9348b7b535220">mask</a>;</div><div class="line"></div><div class="line">E = <a class="code" href="../../d9/d0c/group__calib3d.html#ga13f7e34de8fa516a686a56af1196247f">findEssentialMat</a>(points1, points2, cameraMatrix, <a class="code" href="../../d9/d0c/group__calib3d.html#gga58a3bc75c7337534ea9c1697b928cae0a724159df258a5d7e29410a6a2f4e6c87">RANSAC</a>, 0.999, 1.0, mask);</div><div class="line"><a class="code" href="../../d9/d0c/group__calib3d.html#gadb7d2dfcc184c1d2f496d8639f4371c0">recoverPose</a>(E, points1, points2, cameraMatrix, R, t, mask);</div></div><!-- fragment --> 
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<h2 class="memtitle"><span class="permalink"><a href="#ga40919d0c7eaf77b0df67dd76d5d24fa1">◆ </a></span>recoverPose() <span class="overload">[2/3]</span></h2>
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          <td class="memname">int cv::recoverPose </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>E</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>t</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>focal</em> = <code>1.0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga32986d8c6fd05949688352abd112509f">Point2d</a> </td>
          <td class="paramname"><em>pp</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#ga32986d8c6fd05949688352abd112509f">Point2d</a>(0, 0)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, R, t, mask</td><td>=</td><td>cv.recoverPose(</td><td class="paramname">E, points1, points2, cameraMatrix[, R[, t[, mask]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, R, t, mask</td><td>=</td><td>cv.recoverPose(</td><td class="paramname">E, points1, points2[, R[, t[, focal[, pp[, mask]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, R, t, mask, triangulatedPoints</td><td>=</td><td>cv.recoverPose(</td><td class="paramname">E, points1, points2, cameraMatrix, distanceThresh[, R[, t[, mask[, triangulatedPoints]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">E</td><td>The input essential matrix. </td></tr>
    <tr><td class="paramname">points1</td><td>Array of N 2D points from the first image. The point coordinates should be floating-point (single or double precision). </td></tr>
    <tr><td class="paramname">points2</td><td>Array of the second image points of the same size and format as points1 . </td></tr>
    <tr><td class="paramname">R</td><td>Output rotation matrix. Together with the translation vector, this matrix makes up a tuple that performs a change of basis from the first camera's coordinate system to the second camera's coordinate system. Note that, in general, t can not be used for this tuple, see the parameter description below. </td></tr>
    <tr><td class="paramname">t</td><td>Output translation vector. This vector is obtained by <a class="el" href="../../d9/d0c/group__calib3d.html#ga54a2f5b3f8aeaf6c76d4a31dece85d5d">decomposeEssentialMat</a> and therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit length. </td></tr>
    <tr><td class="paramname">focal</td><td>Focal length of the camera. Note that this function assumes that points1 and points2 are feature points from cameras with same focal length and principal point. </td></tr>
    <tr><td class="paramname">pp</td><td>principal point of the camera. </td></tr>
    <tr><td class="paramname">mask</td><td>Input/output mask for inliers in points1 and points2. If it is not empty, then it marks inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to recover pose. In the output mask only inliers which pass the cheirality check.</td></tr>
  </table>
  </dd>
</dl>
<p>This function differs from the one above that it computes camera intrinsic matrix from focal length and principal point:</p>
<p class="formulaDsp">
\[A = \begin{bmatrix} f &amp; 0 &amp; x_{pp} \\ 0 &amp; f &amp; y_{pp} \\ 0 &amp; 0 &amp; 1 \end{bmatrix}\]
</p>
</div>
</div>
<a id="ga2ee9f187170acece29c5172c2175e7ae"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga2ee9f187170acece29c5172c2175e7ae">◆ </a></span>recoverPose() <span class="overload">[3/3]</span></h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int cv::recoverPose </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>E</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>t</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>distanceThresh</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>triangulatedPoints</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, R, t, mask</td><td>=</td><td>cv.recoverPose(</td><td class="paramname">E, points1, points2, cameraMatrix[, R[, t[, mask]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, R, t, mask</td><td>=</td><td>cv.recoverPose(</td><td class="paramname">E, points1, points2[, R[, t[, focal[, pp[, mask]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, R, t, mask, triangulatedPoints</td><td>=</td><td>cv.recoverPose(</td><td class="paramname">E, points1, points2, cameraMatrix, distanceThresh[, R[, t[, mask[, triangulatedPoints]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">E</td><td>The input essential matrix. </td></tr>
    <tr><td class="paramname">points1</td><td>Array of N 2D points from the first image. The point coordinates should be floating-point (single or double precision). </td></tr>
    <tr><td class="paramname">points2</td><td>Array of the second image points of the same size and format as points1. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Camera intrinsic matrix \(\cameramatrix{A}\) . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera intrinsic matrix. </td></tr>
    <tr><td class="paramname">R</td><td>Output rotation matrix. Together with the translation vector, this matrix makes up a tuple that performs a change of basis from the first camera's coordinate system to the second camera's coordinate system. Note that, in general, t can not be used for this tuple, see the parameter description below. </td></tr>
    <tr><td class="paramname">t</td><td>Output translation vector. This vector is obtained by <a class="el" href="../../d9/d0c/group__calib3d.html#ga54a2f5b3f8aeaf6c76d4a31dece85d5d">decomposeEssentialMat</a> and therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit length. </td></tr>
    <tr><td class="paramname">distanceThresh</td><td>threshold distance which is used to filter out far away points (i.e. infinite points). </td></tr>
    <tr><td class="paramname">mask</td><td>Input/output mask for inliers in points1 and points2. If it is not empty, then it marks inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to recover pose. In the output mask only inliers which pass the cheirality check. </td></tr>
    <tr><td class="paramname">triangulatedPoints</td><td>3D points which were reconstructed by triangulation.</td></tr>
  </table>
  </dd>
</dl>
<p>This function differs from the one above that it outputs the triangulated 3D point that are used for the cheirality check. </p>
</div>
</div>
<a id="gabd5437becb62abc0fe951c532a94b655"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gabd5437becb62abc0fe951c532a94b655">◆ </a></span>rectify3Collinear()</h2>
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      <table class="memname">
        <tr>
          <td class="memname">float cv::rectify3Collinear </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix3</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs3</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imgpt1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imgpt3</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>R12</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>T12</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>R13</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>T13</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R3</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>P1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>P2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>P3</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>Q</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>alpha</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>newImgSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> * </td>
          <td class="paramname"><em>roi1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> * </td>
          <td class="paramname"><em>roi2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, R1, R2, R3, P1, P2, P3, Q, roi1, roi2</td><td>=</td><td>cv.rectify3Collinear(</td><td class="paramname">cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, cameraMatrix3, distCoeffs3, imgpt1, imgpt3, imageSize, R12, T12, R13, T13, alpha, newImgSize, flags[, R1[, R2[, R3[, P1[, P2[, P3[, Q]]]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>computes the rectification transformations for 3-head camera, where all the heads are on the same line. </p>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga1bc1152bd57d63bc524204f21fde6e02">◆ </a></span>reprojectImageTo3D()</h2>
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      <table class="memname">
        <tr>
          <td class="memname">void cv::reprojectImageTo3D </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>disparity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>_3dImage</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>Q</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>handleMissingValues</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>ddepth</em> = <code>-1</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>_3dImage</td><td>=</td><td>cv.reprojectImageTo3D(</td><td class="paramname">disparity, Q[, _3dImage[, handleMissingValues[, ddepth]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Reprojects a disparity image to 3D space. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">disparity</td><td>Input single-channel 8-bit unsigned, 16-bit signed, 32-bit signed or 32-bit floating-point disparity image. The values of 8-bit / 16-bit signed formats are assumed to have no fractional bits. If the disparity is 16-bit signed format, as computed by <a class="el" href="../../d9/dba/classcv_1_1StereoBM.html">StereoBM</a> or <a class="el" href="../../d2/d85/classcv_1_1StereoSGBM.html">StereoSGBM</a> and maybe other algorithms, it should be divided by 16 (and scaled to float) before being used here. </td></tr>
    <tr><td class="paramname">_3dImage</td><td>Output 3-channel floating-point image of the same size as disparity. Each element of _3dImage(x,y) contains 3D coordinates of the point (x,y) computed from the disparity map. If one uses Q obtained by <a class="el" href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6">stereoRectify</a>, then the returned points are represented in the first camera's rectified coordinate system. </td></tr>
    <tr><td class="paramname">Q</td><td>\(4 \times 4\) perspective transformation matrix that can be obtained with <a class="el" href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6">stereoRectify</a>. </td></tr>
    <tr><td class="paramname">handleMissingValues</td><td>Indicates, whether the function should handle missing values (i.e. points where the disparity was not computed). If handleMissingValues=true, then pixels with the minimal disparity that corresponds to the outliers (see <a class="el" href="../../d2/d6e/classcv_1_1StereoMatcher.html#a03f7087df1b2c618462eb98898841345" title="Computes disparity map for the specified stereo pair. ">StereoMatcher::compute</a> ) are transformed to 3D points with a very large Z value (currently set to 10000). </td></tr>
    <tr><td class="paramname">ddepth</td><td>The optional output array depth. If it is -1, the output image will have CV_32F depth. ddepth can also be set to CV_16S, CV_32S or CV_32F.</td></tr>
  </table>
  </dd>
</dl>
<p>The function transforms a single-channel disparity map to a 3-channel image representing a 3D surface. That is, for each pixel (x,y) and the corresponding disparity d=disparity(x,y) , it computes:</p>
<p class="formulaDsp">
\[\begin{bmatrix} X \\ Y \\ Z \\ W \end{bmatrix} = Q \begin{bmatrix} x \\ y \\ \texttt{disparity} (x,y) \\ z \end{bmatrix}.\]
</p>
<dl class="section see"><dt>See also</dt><dd>To reproject a sparse set of points {(x,y,d),...} to 3D space, use <a class="el" href="../../d2/de8/group__core__array.html#gad327659ac03e5fd6894b90025e6900a7" title="Performs the perspective matrix transformation of vectors. ">perspectiveTransform</a>. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ga61585db663d9da06b68e70cfbf6a1eac">◆ </a></span>Rodrigues()</h2>
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          <td class="memname">void cv::Rodrigues </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dst</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>jacobian</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>dst, jacobian</td><td>=</td><td>cv.Rodrigues(</td><td class="paramname">src[, dst[, jacobian]]</td><td>)</td></tr></table>
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<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Converts a rotation matrix to a rotation vector or vice versa. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>Input rotation vector (3x1 or 1x3) or rotation matrix (3x3). </td></tr>
    <tr><td class="paramname">dst</td><td>Output rotation matrix (3x3) or rotation vector (3x1 or 1x3), respectively. </td></tr>
    <tr><td class="paramname">jacobian</td><td>Optional output Jacobian matrix, 3x9 or 9x3, which is a matrix of partial derivatives of the output array components with respect to the input array components.</td></tr>
  </table>
  </dd>
</dl>
<p class="formulaDsp">
\[\begin{array}{l} \theta \leftarrow norm(r) \\ r \leftarrow r/ \theta \\ R = \cos(\theta) I + (1- \cos{\theta} ) r r^T + \sin(\theta) \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} \end{array}\]
</p>
<p>Inverse transformation can be also done easily, since</p>
<p class="formulaDsp">
\[\sin ( \theta ) \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} = \frac{R - R^T}{2}\]
</p>
<p>A rotation vector is a convenient and most compact representation of a rotation matrix (since any rotation matrix has just 3 degrees of freedom). The representation is used in the global 3D geometry optimization procedures like <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">calibrateCamera</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#ga91018d80e2a93ade37539f01e6f07de5">stereoCalibrate</a>, or <a class="el" href="../../d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d">solvePnP</a> .</p>
<dl class="section note"><dt>Note</dt><dd>More information about the computation of the derivative of a 3D rotation matrix with respect to its exponential coordinate can be found in:<ul>
<li>A Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinates, Guillermo Gallego, Anthony J. Yezzi <a class="el" href="../../d0/de3/citelist.html#CITEREF_Gallego2014ACF">[83]</a></li>
</ul>
</dd>
<dd>
Useful information on SE(3) and Lie Groups can be found in:<ul>
<li>A tutorial on SE(3) transformation parameterizations and on-manifold optimization, Jose-Luis Blanco <a class="el" href="../../d0/de3/citelist.html#CITEREF_blanco2010tutorial">[24]</a></li>
<li>Lie Groups for 2D and 3D Transformation, Ethan Eade <a class="el" href="../../d0/de3/citelist.html#CITEREF_Eade17">[65]</a></li>
<li>A micro Lie theory for state estimation in robotics, Joan Solà, Jérémie Deray, Dinesh Atchuthan <a class="el" href="../../d0/de3/citelist.html#CITEREF_Sol2018AML">[227]</a> </li>
</ul>
</dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="../../de/d45/samples_2cpp_2tutorial_code_2features2D_2Homography_2decompose_homography_8cpp-example.html#a13">samples/cpp/tutorial_code/features2D/Homography/decompose_homography.cpp</a>, <a class="el" href="../../d9/d47/samples_2cpp_2tutorial_code_2features2D_2Homography_2homography_from_camera_displacement_8cpp-example.html#a17">samples/cpp/tutorial_code/features2D/Homography/homography_from_camera_displacement.cpp</a>, and <a class="el" href="../../d0/d92/samples_2cpp_2tutorial_code_2features2D_2Homography_2pose_from_homography_8cpp-example.html#a25">samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp</a>.</dd>
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<h2 class="memtitle"><span class="permalink"><a href="#ga1aaacb6224ec7b99d34866f8f9baac83">◆ </a></span>RQDecomp3x3()</h2>
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          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga370d94209693b5b13437ab4991cabf73">Vec3d</a> cv::RQDecomp3x3 </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mtxR</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>mtxQ</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>Qx</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>Qy</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>Qz</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, mtxR, mtxQ, Qx, Qy, Qz</td><td>=</td><td>cv.RQDecomp3x3(</td><td class="paramname">src[, mtxR[, mtxQ[, Qx[, Qy[, Qz]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes an RQ decomposition of 3x3 matrices. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>3x3 input matrix. </td></tr>
    <tr><td class="paramname">mtxR</td><td>Output 3x3 upper-triangular matrix. </td></tr>
    <tr><td class="paramname">mtxQ</td><td>Output 3x3 orthogonal matrix. </td></tr>
    <tr><td class="paramname">Qx</td><td>Optional output 3x3 rotation matrix around x-axis. </td></tr>
    <tr><td class="paramname">Qy</td><td>Optional output 3x3 rotation matrix around y-axis. </td></tr>
    <tr><td class="paramname">Qz</td><td>Optional output 3x3 rotation matrix around z-axis.</td></tr>
  </table>
  </dd>
</dl>
<p>The function computes a RQ decomposition using the given rotations. This function is used in decomposeProjectionMatrix to decompose the left 3x3 submatrix of a projection matrix into a camera and a rotation matrix.</p>
<p>It optionally returns three rotation matrices, one for each axis, and the three Euler angles in degrees (as the return value) that could be used in OpenGL. Note, there is always more than one sequence of rotations about the three principal axes that results in the same orientation of an object, e.g. see <a class="el" href="../../d0/de3/citelist.html#CITEREF_Slabaugh">[226]</a> . Returned tree rotation matrices and corresponding three Euler angles are only one of the possible solutions. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#gacbba2ee98258ca81d352a31faa15a021">◆ </a></span>sampsonDistance()</h2>
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          <td class="memname">double cv::sampsonDistance </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>pt1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>pt2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>F</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.sampsonDistance(</td><td class="paramname">pt1, pt2, F</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Calculates the Sampson Distance between two points. </p>
<p>The function <a class="el" href="../../d9/d0c/group__calib3d.html#gacbba2ee98258ca81d352a31faa15a021" title="Calculates the Sampson Distance between two points. ">cv::sampsonDistance</a> calculates and returns the first order approximation of the geometric error as: </p><p class="formulaDsp">
\[ sd( \texttt{pt1} , \texttt{pt2} )= \frac{(\texttt{pt2}^t \cdot \texttt{F} \cdot \texttt{pt1})^2} {((\texttt{F} \cdot \texttt{pt1})(0))^2 + ((\texttt{F} \cdot \texttt{pt1})(1))^2 + ((\texttt{F}^t \cdot \texttt{pt2})(0))^2 + ((\texttt{F}^t \cdot \texttt{pt2})(1))^2} \]
</p>
<p> The fundamental matrix may be calculated using the <a class="el" href="../../d9/d0c/group__calib3d.html#ga59b0d57f46f8677fb5904294a23d404a" title="Calculates a fundamental matrix from the corresponding points in two images. ">cv::findFundamentalMat</a> function. See <a class="el" href="../../d0/de3/citelist.html#CITEREF_HartleyZ00">[103]</a> 11.4.3 for details. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">pt1</td><td>first homogeneous 2d point </td></tr>
    <tr><td class="paramname">pt2</td><td>second homogeneous 2d point </td></tr>
    <tr><td class="paramname">F</td><td>fundamental matrix </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The computed Sampson distance. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#gae5af86788e99948d40b39a03f6acf623">◆ </a></span>solveP3P()</h2>
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          <td class="memname">int cv::solveP3P </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>rvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>tvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, rvecs, tvecs</td><td>=</td><td>cv.solveP3P(</td><td class="paramname">objectPoints, imagePoints, cameraMatrix, distCoeffs, flags[, rvecs[, tvecs]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds an object pose from 3 3D-2D point correspondences. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>Array of object points in the object coordinate space, 3x3 1-channel or 1x3/3x1 3-channel. vector&lt;Point3f&gt; can be also passed here. </td></tr>
    <tr><td class="paramname">imagePoints</td><td>Array of corresponding image points, 3x2 1-channel or 1x3/3x1 2-channel. vector&lt;Point2f&gt; can be also passed here. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Input camera intrinsic matrix \(\cameramatrix{A}\) . </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">rvecs</td><td>Output rotation vectors (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">Rodrigues</a> ) that, together with tvecs, brings points from the model coordinate system to the camera coordinate system. A P3P problem has up to 4 solutions. </td></tr>
    <tr><td class="paramname">tvecs</td><td>Output translation vectors. </td></tr>
    <tr><td class="paramname">flags</td><td>Method for solving a P3P problem:<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a">SOLVEPNP_P3P</a> Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_gao2003complete">[84]</a>).</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9">SOLVEPNP_AP3P</a> Method is based on the paper of T. Ke and S. Roumeliotis. "An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_Ke17">[127]</a>).</li>
</ul>
</td></tr>
  </table>
  </dd>
</dl>
<p>The function estimates the object pose given 3 object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients.</p>
<dl class="section note"><dt>Note</dt><dd>The solutions are sorted by reprojection errors (lowest to highest). </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ga549c2075fac14829ff4a58bc931c033d">◆ </a></span>solvePnP()</h2>
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          <td class="memname">bool cv::solvePnP </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>rvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>tvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>useExtrinsicGuess</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a></code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, rvec, tvec</td><td>=</td><td>cv.solvePnP(</td><td class="paramname">objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, flags]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds an object pose from 3D-2D point correspondences. This function returns the rotation and the translation vectors that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame, using different methods: </p>
<ul>
<li>P3P methods (<a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a">SOLVEPNP_P3P</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9">SOLVEPNP_AP3P</a>): need 4 input points to return a unique solution.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869acbd7d9f9513a22a59412661a9d31ca3d">SOLVEPNP_IPPE</a> Input points must be &gt;= 4 and object points must be coplanar.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ac5d28b2805d3ac32fd477eee4479406f">SOLVEPNP_IPPE_SQUARE</a> Special case suitable for marker pose estimation. Number of input points must be 4. Object points must be defined in the following order:<ul>
<li>point 0: [-squareLength / 2, squareLength / 2, 0]</li>
<li>point 1: [ squareLength / 2, squareLength / 2, 0]</li>
<li>point 2: [ squareLength / 2, -squareLength / 2, 0]</li>
<li>point 3: [-squareLength / 2, -squareLength / 2, 0]</li>
</ul>
</li>
<li>for all the other flags, number of input points must be &gt;= 4 and object points can be in any configuration.</li>
</ul>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector&lt;Point3d&gt; can be also passed here. </td></tr>
    <tr><td class="paramname">imagePoints</td><td>Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector&lt;Point2d&gt; can be also passed here. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Input camera intrinsic matrix \(\cameramatrix{A}\) . </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">rvec</td><td>Output rotation vector (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">Rodrigues</a> ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system. </td></tr>
    <tr><td class="paramname">tvec</td><td>Output translation vector. </td></tr>
    <tr><td class="paramname">useExtrinsicGuess</td><td>Parameter used for <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a>. If true (1), the function uses the provided rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further optimizes them. </td></tr>
    <tr><td class="paramname">flags</td><td>Method for solving a PnP problem:<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a> Iterative method is based on a Levenberg-Marquardt optimization. In this case the function finds such a pose that minimizes reprojection error, that is the sum of squared distances between the observed projections imagePoints and the projected (using <a class="el" href="../../d9/d0c/group__calib3d.html#ga1019495a2c8d1743ed5cc23fa0daff8c">projectPoints</a> ) objectPoints .</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a">SOLVEPNP_P3P</a> Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_gao2003complete">[84]</a>). In this case the function requires exactly four object and image points.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9">SOLVEPNP_AP3P</a> Method is based on the paper of T. Ke, S. Roumeliotis "An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_Ke17">[127]</a>). In this case the function requires exactly four object and image points.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ae25763f5155defc67ef0f68b74d6c074">SOLVEPNP_EPNP</a> Method has been introduced by F. Moreno-Noguer, V. Lepetit and P. Fua in the paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_lepetit2009epnp">[139]</a>).</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869aa51f13248282b8778003b9a4cf8ac07e">SOLVEPNP_DLS</a> <b>Broken implementation. Using this flag will fallback to EPnP.</b> <br/>
Method is based on the paper of J. Hesch and S. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_hesch2011direct">[110]</a>).</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a2859c9ce1430662096d3cc3b5462847f">SOLVEPNP_UPNP</a> <b>Broken implementation. Using this flag will fallback to EPnP.</b> <br/>
Method is based on the paper of A. Penate-Sanchez, J. Andrade-Cetto, F. Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length
Estimation" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_penate2013exhaustive">[192]</a>). In this case the function also estimates the parameters \(f_x\) and \(f_y\) assuming that both have the same value. Then the cameraMatrix is updated with the estimated focal length.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869acbd7d9f9513a22a59412661a9d31ca3d">SOLVEPNP_IPPE</a> Method is based on the paper of T. Collins and A. Bartoli. "Infinitesimal Plane-Based Pose Estimation" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_Collins14">[48]</a>). This method requires coplanar object points.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ac5d28b2805d3ac32fd477eee4479406f">SOLVEPNP_IPPE_SQUARE</a> Method is based on the paper of Toby Collins and Adrien Bartoli. "Infinitesimal Plane-Based Pose Estimation" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_Collins14">[48]</a>). This method is suitable for marker pose estimation. It requires 4 coplanar object points defined in the following order:<ul>
<li>point 0: [-squareLength / 2, squareLength / 2, 0]</li>
<li>point 1: [ squareLength / 2, squareLength / 2, 0]</li>
<li>point 2: [ squareLength / 2, -squareLength / 2, 0]</li>
<li>point 3: [-squareLength / 2, -squareLength / 2, 0]</li>
</ul>
</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9229a3332f6c4969251c31d2931b0729">SOLVEPNP_SQPNP</a> Method is based on the paper "A Consistently Fast and Globally Optimal Solution to the
Perspective-n-Point Problem" by G. Terzakis and M.Lourakis (<a class="el" href="../../d0/de3/citelist.html#CITEREF_Terzakis20">[244]</a>). It requires 3 or more points.</li>
</ul>
</td></tr>
  </table>
  </dd>
</dl>
<p>The function estimates the object pose given a set of object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients, see the figure below (more precisely, the X-axis of the camera frame is pointing to the right, the Y-axis downward and the Z-axis forward).</p>
<div class="image">
<img alt="pnp.jpg" src="../../pnp.jpg"/>
</div>
<p>Points expressed in the world frame \( \bf{X}_w \) are projected into the image plane \( \left[ u, v \right] \) using the perspective projection model \( \Pi \) and the camera intrinsic parameters matrix \( \bf{A} \):</p>
<p class="formulaDsp">
\[ \begin{align*} \begin{bmatrix} u \\ v \\ 1 \end{bmatrix} &amp;= \bf{A} \hspace{0.1em} \Pi \hspace{0.2em} ^{c}\bf{T}_w \begin{bmatrix} X_{w} \\ Y_{w} \\ Z_{w} \\ 1 \end{bmatrix} \\ \begin{bmatrix} u \\ v \\ 1 \end{bmatrix} &amp;= \begin{bmatrix} f_x &amp; 0 &amp; c_x \\ 0 &amp; f_y &amp; c_y \\ 0 &amp; 0 &amp; 1 \end{bmatrix} \begin{bmatrix} 1 &amp; 0 &amp; 0 &amp; 0 \\ 0 &amp; 1 &amp; 0 &amp; 0 \\ 0 &amp; 0 &amp; 1 &amp; 0 \end{bmatrix} \begin{bmatrix} r_{11} &amp; r_{12} &amp; r_{13} &amp; t_x \\ r_{21} &amp; r_{22} &amp; r_{23} &amp; t_y \\ r_{31} &amp; r_{32} &amp; r_{33} &amp; t_z \\ 0 &amp; 0 &amp; 0 &amp; 1 \end{bmatrix} \begin{bmatrix} X_{w} \\ Y_{w} \\ Z_{w} \\ 1 \end{bmatrix} \end{align*} \]
</p>
<p>The estimated pose is thus the rotation (<code>rvec</code>) and the translation (<code>tvec</code>) vectors that allow transforming a 3D point expressed in the world frame into the camera frame:</p>
<p class="formulaDsp">
\[ \begin{align*} \begin{bmatrix} X_c \\ Y_c \\ Z_c \\ 1 \end{bmatrix} &amp;= \hspace{0.2em} ^{c}\bf{T}_w \begin{bmatrix} X_{w} \\ Y_{w} \\ Z_{w} \\ 1 \end{bmatrix} \\ \begin{bmatrix} X_c \\ Y_c \\ Z_c \\ 1 \end{bmatrix} &amp;= \begin{bmatrix} r_{11} &amp; r_{12} &amp; r_{13} &amp; t_x \\ r_{21} &amp; r_{22} &amp; r_{23} &amp; t_y \\ r_{31} &amp; r_{32} &amp; r_{33} &amp; t_z \\ 0 &amp; 0 &amp; 0 &amp; 1 \end{bmatrix} \begin{bmatrix} X_{w} \\ Y_{w} \\ Z_{w} \\ 1 \end{bmatrix} \end{align*} \]
</p>
<dl class="section note"><dt>Note</dt><dd><ul>
<li>An example of how to use solvePnP for planar augmented reality can be found at opencv_source_code/samples/python/plane_ar.py</li>
<li>If you are using Python:<ul>
<li>Numpy array slices won't work as input because solvePnP requires contiguous arrays (enforced by the assertion using <a class="el" href="../../d3/d63/classcv_1_1Mat.html#a167a8e0a3a3d86e84b70e33483af4466">cv::Mat::checkVector()</a> around line 55 of modules/calib3d/src/solvepnp.cpp version 2.4.9)</li>
<li>The P3P algorithm requires image points to be in an array of shape (N,1,2) due to its calling of <a class="el" href="../../d9/d0c/group__calib3d.html#ga55c716492470bfe86b0ee9bf3a1f0f7e" title="Computes the ideal point coordinates from the observed point coordinates. ">cv::undistortPoints</a> (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9) which requires 2-channel information.</li>
<li>Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints = np.ascontiguousarray(D[:,:2]).reshape((N,1,2))</li>
</ul>
</li>
<li>The methods <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869aa51f13248282b8778003b9a4cf8ac07e">SOLVEPNP_DLS</a> and <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a2859c9ce1430662096d3cc3b5462847f">SOLVEPNP_UPNP</a> cannot be used as the current implementations are unstable and sometimes give completely wrong results. If you pass one of these two flags, <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ae25763f5155defc67ef0f68b74d6c074">SOLVEPNP_EPNP</a> method will be used instead.</li>
<li>The minimum number of points is 4 in the general case. In the case of <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a">SOLVEPNP_P3P</a> and <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9">SOLVEPNP_AP3P</a> methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).</li>
<li>With <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a> method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the global solution to converge.</li>
<li>With <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869acbd7d9f9513a22a59412661a9d31ca3d">SOLVEPNP_IPPE</a> input points must be &gt;= 4 and object points must be coplanar.</li>
<li>With <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ac5d28b2805d3ac32fd477eee4479406f">SOLVEPNP_IPPE_SQUARE</a> this is a special case suitable for marker pose estimation. Number of input points must be 4. Object points must be defined in the following order:<ul>
<li>point 0: [-squareLength / 2, squareLength / 2, 0]</li>
<li>point 1: [ squareLength / 2, squareLength / 2, 0]</li>
<li>point 2: [ squareLength / 2, -squareLength / 2, 0]</li>
<li>point 3: [-squareLength / 2, -squareLength / 2, 0]</li>
</ul>
</li>
</ul>
</dd></dl>
<ul>
<li>With <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9229a3332f6c4969251c31d2931b0729">SOLVEPNP_SQPNP</a> input points must be &gt;= 3 </li>
</ul>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="../../de/d45/samples_2cpp_2tutorial_code_2features2D_2Homography_2decompose_homography_8cpp-example.html#a12">samples/cpp/tutorial_code/features2D/Homography/decompose_homography.cpp</a>, and <a class="el" href="../../d9/d47/samples_2cpp_2tutorial_code_2features2D_2Homography_2homography_from_camera_displacement_8cpp-example.html#a12">samples/cpp/tutorial_code/features2D/Homography/homography_from_camera_displacement.cpp</a>.</dd>
</dl>
</div>
</div>
<a id="ga624af8a6641b9bdb487f63f694e8bb90"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga624af8a6641b9bdb487f63f694e8bb90">◆ </a></span>solvePnPGeneric()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int cv::solvePnPGeneric </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>rvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga889a09549b98223016170d9b613715de">OutputArrayOfArrays</a> </td>
          <td class="paramname"><em>tvecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>useExtrinsicGuess</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d0c/group__calib3d.html#ga357634492a94efe8858d0ce1509da869">SolvePnPMethod</a> </td>
          <td class="paramname"><em>flags</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>rvec</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>tvec</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>reprojectionError</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, rvecs, tvecs, reprojectionError</td><td>=</td><td>cv.solvePnPGeneric(</td><td class="paramname">objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvecs[, tvecs[, useExtrinsicGuess[, flags[, rvec[, tvec[, reprojectionError]]]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds an object pose from 3D-2D point correspondences. This function returns a list of all the possible solutions (a solution is a &lt;rotation vector, translation vector&gt; couple), depending on the number of input points and the chosen method: </p>
<ul>
<li>P3P methods (<a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a">SOLVEPNP_P3P</a>, <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9">SOLVEPNP_AP3P</a>): 3 or 4 input points. Number of returned solutions can be between 0 and 4 with 3 input points.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869acbd7d9f9513a22a59412661a9d31ca3d">SOLVEPNP_IPPE</a> Input points must be &gt;= 4 and object points must be coplanar. Returns 2 solutions.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ac5d28b2805d3ac32fd477eee4479406f">SOLVEPNP_IPPE_SQUARE</a> Special case suitable for marker pose estimation. Number of input points must be 4 and 2 solutions are returned. Object points must be defined in the following order:<ul>
<li>point 0: [-squareLength / 2, squareLength / 2, 0]</li>
<li>point 1: [ squareLength / 2, squareLength / 2, 0]</li>
<li>point 2: [ squareLength / 2, -squareLength / 2, 0]</li>
<li>point 3: [-squareLength / 2, -squareLength / 2, 0]</li>
</ul>
</li>
<li>for all the other flags, number of input points must be &gt;= 4 and object points can be in any configuration. Only 1 solution is returned.</li>
</ul>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector&lt;Point3d&gt; can be also passed here. </td></tr>
    <tr><td class="paramname">imagePoints</td><td>Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector&lt;Point2d&gt; can be also passed here. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Input camera intrinsic matrix \(\cameramatrix{A}\) . </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">rvecs</td><td>Vector of output rotation vectors (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">Rodrigues</a> ) that, together with tvecs, brings points from the model coordinate system to the camera coordinate system. </td></tr>
    <tr><td class="paramname">tvecs</td><td>Vector of output translation vectors. </td></tr>
    <tr><td class="paramname">useExtrinsicGuess</td><td>Parameter used for <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a>. If true (1), the function uses the provided rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further optimizes them. </td></tr>
    <tr><td class="paramname">flags</td><td>Method for solving a PnP problem:<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a> Iterative method is based on a Levenberg-Marquardt optimization. In this case the function finds such a pose that minimizes reprojection error, that is the sum of squared distances between the observed projections imagePoints and the projected (using projectPoints ) objectPoints .</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a">SOLVEPNP_P3P</a> Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_gao2003complete">[84]</a>). In this case the function requires exactly four object and image points.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9">SOLVEPNP_AP3P</a> Method is based on the paper of T. Ke, S. Roumeliotis "An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_Ke17">[127]</a>). In this case the function requires exactly four object and image points.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ae25763f5155defc67ef0f68b74d6c074">SOLVEPNP_EPNP</a> Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_lepetit2009epnp">[139]</a>).</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869aa51f13248282b8778003b9a4cf8ac07e">SOLVEPNP_DLS</a> <b>Broken implementation. Using this flag will fallback to EPnP.</b> <br/>
Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_hesch2011direct">[110]</a>).</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a2859c9ce1430662096d3cc3b5462847f">SOLVEPNP_UPNP</a> <b>Broken implementation. Using this flag will fallback to EPnP.</b> <br/>
Method is based on the paper of A.Penate-Sanchez, J.Andrade-Cetto, F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length
Estimation" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_penate2013exhaustive">[192]</a>). In this case the function also estimates the parameters \(f_x\) and \(f_y\) assuming that both have the same value. Then the cameraMatrix is updated with the estimated focal length.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869acbd7d9f9513a22a59412661a9d31ca3d">SOLVEPNP_IPPE</a> Method is based on the paper of T. Collins and A. Bartoli. "Infinitesimal Plane-Based Pose Estimation" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_Collins14">[48]</a>). This method requires coplanar object points.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ac5d28b2805d3ac32fd477eee4479406f">SOLVEPNP_IPPE_SQUARE</a> Method is based on the paper of Toby Collins and Adrien Bartoli. "Infinitesimal Plane-Based Pose Estimation" (<a class="el" href="../../d0/de3/citelist.html#CITEREF_Collins14">[48]</a>). This method is suitable for marker pose estimation. It requires 4 coplanar object points defined in the following order:<ul>
<li>point 0: [-squareLength / 2, squareLength / 2, 0]</li>
<li>point 1: [ squareLength / 2, squareLength / 2, 0]</li>
<li>point 2: [ squareLength / 2, -squareLength / 2, 0]</li>
<li>point 3: [-squareLength / 2, -squareLength / 2, 0] </li>
</ul>
</li>
</ul>
</td></tr>
    <tr><td class="paramname">rvec</td><td>Rotation vector used to initialize an iterative PnP refinement algorithm, when flag is <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a> and useExtrinsicGuess is set to true. </td></tr>
    <tr><td class="paramname">tvec</td><td>Translation vector used to initialize an iterative PnP refinement algorithm, when flag is <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a> and useExtrinsicGuess is set to true. </td></tr>
    <tr><td class="paramname">reprojectionError</td><td>Optional vector of reprojection error, that is the RMS error ( \( \text{RMSE} = \sqrt{\frac{\sum_{i}^{N} \left ( \hat{y_i} - y_i \right )^2}{N}} \)) between the input image points and the 3D object points projected with the estimated pose.</td></tr>
  </table>
  </dd>
</dl>
<p>The function estimates the object pose given a set of object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients, see the figure below (more precisely, the X-axis of the camera frame is pointing to the right, the Y-axis downward and the Z-axis forward).</p>
<div class="image">
<img alt="pnp.jpg" src="../../pnp.jpg"/>
</div>
<p>Points expressed in the world frame \( \bf{X}_w \) are projected into the image plane \( \left[ u, v \right] \) using the perspective projection model \( \Pi \) and the camera intrinsic parameters matrix \( \bf{A} \):</p>
<p class="formulaDsp">
\[ \begin{align*} \begin{bmatrix} u \\ v \\ 1 \end{bmatrix} &amp;= \bf{A} \hspace{0.1em} \Pi \hspace{0.2em} ^{c}\bf{T}_w \begin{bmatrix} X_{w} \\ Y_{w} \\ Z_{w} \\ 1 \end{bmatrix} \\ \begin{bmatrix} u \\ v \\ 1 \end{bmatrix} &amp;= \begin{bmatrix} f_x &amp; 0 &amp; c_x \\ 0 &amp; f_y &amp; c_y \\ 0 &amp; 0 &amp; 1 \end{bmatrix} \begin{bmatrix} 1 &amp; 0 &amp; 0 &amp; 0 \\ 0 &amp; 1 &amp; 0 &amp; 0 \\ 0 &amp; 0 &amp; 1 &amp; 0 \end{bmatrix} \begin{bmatrix} r_{11} &amp; r_{12} &amp; r_{13} &amp; t_x \\ r_{21} &amp; r_{22} &amp; r_{23} &amp; t_y \\ r_{31} &amp; r_{32} &amp; r_{33} &amp; t_z \\ 0 &amp; 0 &amp; 0 &amp; 1 \end{bmatrix} \begin{bmatrix} X_{w} \\ Y_{w} \\ Z_{w} \\ 1 \end{bmatrix} \end{align*} \]
</p>
<p>The estimated pose is thus the rotation (<code>rvec</code>) and the translation (<code>tvec</code>) vectors that allow transforming a 3D point expressed in the world frame into the camera frame:</p>
<p class="formulaDsp">
\[ \begin{align*} \begin{bmatrix} X_c \\ Y_c \\ Z_c \\ 1 \end{bmatrix} &amp;= \hspace{0.2em} ^{c}\bf{T}_w \begin{bmatrix} X_{w} \\ Y_{w} \\ Z_{w} \\ 1 \end{bmatrix} \\ \begin{bmatrix} X_c \\ Y_c \\ Z_c \\ 1 \end{bmatrix} &amp;= \begin{bmatrix} r_{11} &amp; r_{12} &amp; r_{13} &amp; t_x \\ r_{21} &amp; r_{22} &amp; r_{23} &amp; t_y \\ r_{31} &amp; r_{32} &amp; r_{33} &amp; t_z \\ 0 &amp; 0 &amp; 0 &amp; 1 \end{bmatrix} \begin{bmatrix} X_{w} \\ Y_{w} \\ Z_{w} \\ 1 \end{bmatrix} \end{align*} \]
</p>
<dl class="section note"><dt>Note</dt><dd><ul>
<li>An example of how to use solvePnP for planar augmented reality can be found at opencv_source_code/samples/python/plane_ar.py</li>
<li>If you are using Python:<ul>
<li>Numpy array slices won't work as input because solvePnP requires contiguous arrays (enforced by the assertion using <a class="el" href="../../d3/d63/classcv_1_1Mat.html#a167a8e0a3a3d86e84b70e33483af4466">cv::Mat::checkVector()</a> around line 55 of modules/calib3d/src/solvepnp.cpp version 2.4.9)</li>
<li>The P3P algorithm requires image points to be in an array of shape (N,1,2) due to its calling of <a class="el" href="../../d9/d0c/group__calib3d.html#ga55c716492470bfe86b0ee9bf3a1f0f7e" title="Computes the ideal point coordinates from the observed point coordinates. ">cv::undistortPoints</a> (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9) which requires 2-channel information.</li>
<li>Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints = np.ascontiguousarray(D[:,:2]).reshape((N,1,2))</li>
</ul>
</li>
<li>The methods <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869aa51f13248282b8778003b9a4cf8ac07e">SOLVEPNP_DLS</a> and <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a2859c9ce1430662096d3cc3b5462847f">SOLVEPNP_UPNP</a> cannot be used as the current implementations are unstable and sometimes give completely wrong results. If you pass one of these two flags, <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ae25763f5155defc67ef0f68b74d6c074">SOLVEPNP_EPNP</a> method will be used instead.</li>
<li>The minimum number of points is 4 in the general case. In the case of <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a">SOLVEPNP_P3P</a> and <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9">SOLVEPNP_AP3P</a> methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).</li>
<li>With <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a> method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the global solution to converge.</li>
<li>With <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869acbd7d9f9513a22a59412661a9d31ca3d">SOLVEPNP_IPPE</a> input points must be &gt;= 4 and object points must be coplanar.</li>
<li>With <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ac5d28b2805d3ac32fd477eee4479406f">SOLVEPNP_IPPE_SQUARE</a> this is a special case suitable for marker pose estimation. Number of input points must be 4. Object points must be defined in the following order:<ul>
<li>point 0: [-squareLength / 2, squareLength / 2, 0]</li>
<li>point 1: [ squareLength / 2, squareLength / 2, 0]</li>
<li>point 2: [ squareLength / 2, -squareLength / 2, 0]</li>
<li>point 3: [-squareLength / 2, -squareLength / 2, 0] </li>
</ul>
</li>
</ul>
</dd></dl>
</div>
</div>
<a id="ga50620f0e26e02caa2e9adc07b5fbf24e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga50620f0e26e02caa2e9adc07b5fbf24e">◆ </a></span>solvePnPRansac() <span class="overload">[1/2]</span></h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool cv::solvePnPRansac </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>rvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>tvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>useExtrinsicGuess</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>iterationsCount</em> = <code>100</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>reprojectionError</em> = <code>8.0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>confidence</em> = <code>0.99</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>inliers</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a></code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, rvec, tvec, inliers</td><td>=</td><td>cv.solvePnPRansac(</td><td class="paramname">objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, iterationsCount[, reprojectionError[, confidence[, inliers[, flags]]]]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix, rvec, tvec, inliers</td><td>=</td><td>cv.solvePnPRansac(</td><td class="paramname">objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, inliers[, params]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Finds an object pose from 3D-2D point correspondences using the RANSAC scheme. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector&lt;Point3d&gt; can be also passed here. </td></tr>
    <tr><td class="paramname">imagePoints</td><td>Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector&lt;Point2d&gt; can be also passed here. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Input camera intrinsic matrix \(\cameramatrix{A}\) . </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">rvec</td><td>Output rotation vector (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">Rodrigues</a> ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system. </td></tr>
    <tr><td class="paramname">tvec</td><td>Output translation vector. </td></tr>
    <tr><td class="paramname">useExtrinsicGuess</td><td>Parameter used for <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a9f589872a7f7d687dc58294e01ea33a5">SOLVEPNP_ITERATIVE</a>. If true (1), the function uses the provided rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further optimizes them. </td></tr>
    <tr><td class="paramname">iterationsCount</td><td>Number of iterations. </td></tr>
    <tr><td class="paramname">reprojectionError</td><td>Inlier threshold value used by the RANSAC procedure. The parameter value is the maximum allowed distance between the observed and computed point projections to consider it an inlier. </td></tr>
    <tr><td class="paramname">confidence</td><td>The probability that the algorithm produces a useful result. </td></tr>
    <tr><td class="paramname">inliers</td><td>Output vector that contains indices of inliers in objectPoints and imagePoints . </td></tr>
    <tr><td class="paramname">flags</td><td>Method for solving a PnP problem (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d">solvePnP</a> ).</td></tr>
  </table>
  </dd>
</dl>
<p>The function estimates an object pose given a set of object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients. This function finds such a pose that minimizes reprojection error, that is, the sum of squared distances between the observed projections imagePoints and the projected (using <a class="el" href="../../d9/d0c/group__calib3d.html#ga1019495a2c8d1743ed5cc23fa0daff8c">projectPoints</a> ) objectPoints. The use of RANSAC makes the function resistant to outliers.</p>
<dl class="section note"><dt>Note</dt><dd><ul>
<li>An example of how to use solvePNPRansac for object detection can be found at opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/</li>
<li>The default method used to estimate the camera pose for the Minimal Sample Sets step is <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ae25763f5155defc67ef0f68b74d6c074" title="EPnP: Efficient Perspective-n-Point Camera Pose Estimation . ">SOLVEPNP_EPNP</a>. Exceptions are:<ul>
<li>if you choose <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a" title="Complete Solution Classification for the Perspective-Three-Point Problem . ">SOLVEPNP_P3P</a> or <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9" title="An Efficient Algebraic Solution to the Perspective-Three-Point Problem . ">SOLVEPNP_AP3P</a>, these methods will be used.</li>
<li>if the number of input points is equal to 4, <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a" title="Complete Solution Classification for the Perspective-Three-Point Problem . ">SOLVEPNP_P3P</a> is used.</li>
</ul>
</li>
<li>The method used to estimate the camera pose using all the inliers is defined by the flags parameters unless it is equal to <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869af33a85ca698777ff9bd1de916bf5959a" title="Complete Solution Classification for the Perspective-Three-Point Problem . ">SOLVEPNP_P3P</a> or <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869a8d48dece2da6492d91fa2de0a04679f9" title="An Efficient Algebraic Solution to the Perspective-Three-Point Problem . ">SOLVEPNP_AP3P</a>. In this case, the method <a class="el" href="../../d9/d0c/group__calib3d.html#gga357634492a94efe8858d0ce1509da869ae25763f5155defc67ef0f68b74d6c074" title="EPnP: Efficient Perspective-n-Point Camera Pose Estimation . ">SOLVEPNP_EPNP</a> will be used instead. </li>
</ul>
</dd></dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#gab14667ec49eda61b4a3f14eb9704373b">◆ </a></span>solvePnPRansac() <span class="overload">[2/2]</span></h2>
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        <tr>
          <td class="memname">bool cv::solvePnPRansac </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>rvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>tvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>inliers</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a> &amp; </td>
          <td class="paramname"><em>params</em> = <code><a class="el" href="../../d6/dd0/structcv_1_1UsacParams.html">UsacParams</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, rvec, tvec, inliers</td><td>=</td><td>cv.solvePnPRansac(</td><td class="paramname">objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, iterationsCount[, reprojectionError[, confidence[, inliers[, flags]]]]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix, rvec, tvec, inliers</td><td>=</td><td>cv.solvePnPRansac(</td><td class="paramname">objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, inliers[, params]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga650ba4d286a96d992f82c3e6dfa525fa">◆ </a></span>solvePnPRefineLM()</h2>
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          <td class="memname">void cv::solvePnPRefineLM </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>rvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>tvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> </td>
          <td class="paramname"><em>criteria</em> = <code><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>, 20, FLT_EPSILON)</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>rvec, tvec</td><td>=</td><td>cv.solvePnPRefineLM(</td><td class="paramname">objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec[, criteria]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector&lt;Point3d&gt; can also be passed here. </td></tr>
    <tr><td class="paramname">imagePoints</td><td>Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector&lt;Point2d&gt; can also be passed here. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Input camera intrinsic matrix \(\cameramatrix{A}\) . </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">rvec</td><td>Input/Output rotation vector (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">Rodrigues</a> ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system. Input values are used as an initial solution. </td></tr>
    <tr><td class="paramname">tvec</td><td>Input/Output translation vector. Input values are used as an initial solution. </td></tr>
    <tr><td class="paramname">criteria</td><td>Criteria when to stop the Levenberg-Marquard iterative algorithm.</td></tr>
  </table>
  </dd>
</dl>
<p>The function refines the object pose given at least 3 object points, their corresponding image projections, an initial solution for the rotation and translation vector, as well as the camera intrinsic matrix and the distortion coefficients. The function minimizes the projection error with respect to the rotation and the translation vectors, according to a Levenberg-Marquardt iterative minimization <a class="el" href="../../d0/de3/citelist.html#CITEREF_Madsen04">[159]</a> <a class="el" href="../../d0/de3/citelist.html#CITEREF_Eade13">[64]</a> process. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga17491c0282e4af874f6206a9166774a5">◆ </a></span>solvePnPRefineVVS()</h2>
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          <td class="memname">void cv::solvePnPRefineVVS </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>rvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>tvec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> </td>
          <td class="paramname"><em>criteria</em> = <code><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>, 20, FLT_EPSILON)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>VVSlambda</em> = <code>1</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>rvec, tvec</td><td>=</td><td>cv.solvePnPRefineVVS(</td><td class="paramname">objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec[, criteria[, VVSlambda]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector&lt;Point3d&gt; can also be passed here. </td></tr>
    <tr><td class="paramname">imagePoints</td><td>Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector&lt;Point2d&gt; can also be passed here. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Input camera intrinsic matrix \(\cameramatrix{A}\) . </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">rvec</td><td>Input/Output rotation vector (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac">Rodrigues</a> ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system. Input values are used as an initial solution. </td></tr>
    <tr><td class="paramname">tvec</td><td>Input/Output translation vector. Input values are used as an initial solution. </td></tr>
    <tr><td class="paramname">criteria</td><td>Criteria when to stop the Levenberg-Marquard iterative algorithm. </td></tr>
    <tr><td class="paramname">VVSlambda</td><td>Gain for the virtual visual servoing control law, equivalent to the \(\alpha\) gain in the Damped Gauss-Newton formulation.</td></tr>
  </table>
  </dd>
</dl>
<p>The function refines the object pose given at least 3 object points, their corresponding image projections, an initial solution for the rotation and translation vector, as well as the camera intrinsic matrix and the distortion coefficients. The function minimizes the projection error with respect to the rotation and the translation vectors, using a virtual visual servoing (VVS) <a class="el" href="../../d0/de3/citelist.html#CITEREF_Chaumette06">[44]</a> <a class="el" href="../../d0/de3/citelist.html#CITEREF_Marchand16">[163]</a> scheme. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga91018d80e2a93ade37539f01e6f07de5">◆ </a></span>stereoCalibrate() <span class="overload">[1/2]</span></h2>
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          <td class="memname">double cv::stereoCalibrate </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imagePoints1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imagePoints2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>cameraMatrix1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>distCoeffs1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>cameraMatrix2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>distCoeffs2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>T</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>E</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>F</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>perViewErrors</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa51df9c05343c61ddb18324ded0fab86a">CALIB_FIX_INTRINSIC</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> </td>
          <td class="paramname"><em>criteria</em> = <code><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, 1e-6)</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F</td><td>=</td><td>cv.stereoCalibrate(</td><td class="paramname">objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize[, R[, T[, E[, F[, flags[, criteria]]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F, perViewErrors</td><td>=</td><td>cv.stereoCalibrateExtended(</td><td class="paramname">objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize, R, T[, E[, F[, perViewErrors[, flags[, criteria]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Calibrates a stereo camera set up. This function finds the intrinsic parameters for each of the two cameras and the extrinsic parameters between the two cameras. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>Vector of vectors of the calibration pattern points. The same structure as in <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">calibrateCamera</a>. For each pattern view, both cameras need to see the same object points. Therefore, <a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">objectPoints.size()</a>, <a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">imagePoints1.size()</a>, and <a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">imagePoints2.size()</a> need to be equal as well as objectPoints[i].<a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">size()</a>, imagePoints1[i].<a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">size()</a>, and imagePoints2[i].<a class="el" href="../../df/d5b/namespacecv_1_1gapi_1_1streaming.html#a0a915e69f4cc8284293e40fc9ffbf157" title="Gets dimensions from Mat. ">size()</a> need to be equal for each i. </td></tr>
    <tr><td class="paramname">imagePoints1</td><td>Vector of vectors of the projections of the calibration pattern points, observed by the first camera. The same structure as in <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">calibrateCamera</a>. </td></tr>
    <tr><td class="paramname">imagePoints2</td><td>Vector of vectors of the projections of the calibration pattern points, observed by the second camera. The same structure as in <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">calibrateCamera</a>. </td></tr>
    <tr><td class="paramname">cameraMatrix1</td><td>Input/output camera intrinsic matrix for the first camera, the same as in <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">calibrateCamera</a>. Furthermore, for the stereo case, additional flags may be used, see below. </td></tr>
    <tr><td class="paramname">distCoeffs1</td><td>Input/output vector of distortion coefficients, the same as in <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d">calibrateCamera</a>. </td></tr>
    <tr><td class="paramname">cameraMatrix2</td><td>Input/output second camera intrinsic matrix for the second camera. See description for cameraMatrix1. </td></tr>
    <tr><td class="paramname">distCoeffs2</td><td>Input/output lens distortion coefficients for the second camera. See description for distCoeffs1. </td></tr>
    <tr><td class="paramname">imageSize</td><td>Size of the image used only to initialize the camera intrinsic matrices. </td></tr>
    <tr><td class="paramname">R</td><td>Output rotation matrix. Together with the translation vector T, this matrix brings points given in the first camera's coordinate system to points in the second camera's coordinate system. In more technical terms, the tuple of R and T performs a change of basis from the first camera's coordinate system to the second camera's coordinate system. Due to its duality, this tuple is equivalent to the position of the first camera with respect to the second camera coordinate system. </td></tr>
    <tr><td class="paramname">T</td><td>Output translation vector, see description above. </td></tr>
    <tr><td class="paramname">E</td><td>Output essential matrix. </td></tr>
    <tr><td class="paramname">F</td><td>Output fundamental matrix. </td></tr>
    <tr><td class="paramname">perViewErrors</td><td>Output vector of the RMS re-projection error estimated for each pattern view. </td></tr>
    <tr><td class="paramname">flags</td><td>Different flags that may be zero or a combination of the following values:<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa51df9c05343c61ddb18324ded0fab86a">CALIB_FIX_INTRINSIC</a> Fix cameraMatrix? and distCoeffs? so that only R, T, E, and F matrices are estimated.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> Optimize some or all of the intrinsic parameters according to the specified flags. Initial values are provided by the user.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa9244b2193c7621bb8ceb402384534848">CALIB_USE_EXTRINSIC_GUESS</a> R and T contain valid initial values that are optimized further. Otherwise R and T are initialized to the median value of the pattern views (each dimension separately).</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa564091bdcc5ab14785f185e16430ff62">CALIB_FIX_PRINCIPAL_POINT</a> Fix the principal points during the optimization.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa72b96c0777e60eda049e938b90c03e89">CALIB_FIX_FOCAL_LENGTH</a> Fix \(f^{(j)}_x\) and \(f^{(j)}_y\) .</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa131c3576ad5c96991adea3a133b6ce65">CALIB_FIX_ASPECT_RATIO</a> Optimize \(f^{(j)}_y\) . Fix the ratio \(f^{(j)}_x/f^{(j)}_y\)</li>
</ul>
<ul>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa53709cea2e0d6129e99606fe3d27385e">CALIB_SAME_FOCAL_LENGTH</a> Enforce \(f^{(0)}_x=f^{(1)}_x\) and \(f^{(0)}_y=f^{(1)}_y\) .</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa769b5792d4e9c4ae073eaf317aec73ef">CALIB_ZERO_TANGENT_DIST</a> Set tangential distortion coefficients for each camera to zeros and fix there.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fab4ac5ea2d2f2636ca8a384a5b717dd35">CALIB_FIX_K1</a>,..., <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa7d57502505ca433b25116aebadf33088">CALIB_FIX_K6</a> Do not change the corresponding radial distortion coefficient during the optimization. If <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa204766e24f2e413e7a7c9f8b9e93f16c">CALIB_RATIONAL_MODEL</a> Enable coefficients k4, k5, and k6. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the rational model and return 8 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0faa4ae44ce7bb854eabac902587af4dbe7">CALIB_THIN_PRISM_MODEL</a> Coefficients s1, s2, s3 and s4 are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the thin prism model and return 12 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fac148a479e5098f8ebfa49343a247280a">CALIB_FIX_S1_S2_S3_S4</a> The thin prism distortion coefficients are not changed during the optimization. If <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fac87f64a9ebe7c605bc8e4dd6e355528d">CALIB_TILTED_MODEL</a> Coefficients tauX and tauY are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the tilted sensor model and return 14 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients.</li>
<li><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa2c39f08cc098e2a79b13dfbad4e59317">CALIB_FIX_TAUX_TAUY</a> The coefficients of the tilted sensor model are not changed during the optimization. If <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa6eedf3c8312d4b29edfe0a434722e2ef">CALIB_USE_INTRINSIC_GUESS</a> is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0. </li>
</ul>
</td></tr>
    <tr><td class="paramname">criteria</td><td>Termination criteria for the iterative optimization algorithm.</td></tr>
  </table>
  </dd>
</dl>
<p>The function estimates the transformation between two cameras making a stereo pair. If one computes the poses of an object relative to the first camera and to the second camera, ( \(R_1\), \(T_1\) ) and ( \(R_2\), \(T_2\)), respectively, for a stereo camera where the relative position and orientation between the two cameras are fixed, then those poses definitely relate to each other. This means, if the relative position and orientation ( \(R\), \(T\)) of the two cameras is known, it is possible to compute ( \(R_2\), \(T_2\)) when ( \(R_1\), \(T_1\)) is given. This is what the described function does. It computes ( \(R\), \(T\)) such that:</p>
<p class="formulaDsp">
\[R_2=R R_1\]
</p>
 <p class="formulaDsp">
\[T_2=R T_1 + T.\]
</p>
<p>Therefore, one can compute the coordinate representation of a 3D point for the second camera's coordinate system when given the point's coordinate representation in the first camera's coordinate system:</p>
<p class="formulaDsp">
\[\begin{bmatrix} X_2 \\ Y_2 \\ Z_2 \\ 1 \end{bmatrix} = \begin{bmatrix} R &amp; T \\ 0 &amp; 1 \end{bmatrix} \begin{bmatrix} X_1 \\ Y_1 \\ Z_1 \\ 1 \end{bmatrix}.\]
</p>
<p>Optionally, it computes the essential matrix E:</p>
<p class="formulaDsp">
\[E= \vecthreethree{0}{-T_2}{T_1}{T_2}{0}{-T_0}{-T_1}{T_0}{0} R\]
</p>
<p>where \(T_i\) are components of the translation vector \(T\) : \(T=[T_0, T_1, T_2]^T\) . And the function can also compute the fundamental matrix F:</p>
<p class="formulaDsp">
\[F = cameraMatrix2^{-T}\cdot E \cdot cameraMatrix1^{-1}\]
</p>
<p>Besides the stereo-related information, the function can also perform a full calibration of each of the two cameras. However, due to the high dimensionality of the parameter space and noise in the input data, the function can diverge from the correct solution. If the intrinsic parameters can be estimated with high accuracy for each of the cameras individually (for example, using calibrateCamera ), you are recommended to do so and then pass <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa51df9c05343c61ddb18324ded0fab86a">CALIB_FIX_INTRINSIC</a> flag to the function along with the computed intrinsic parameters. Otherwise, if all the parameters are estimated at once, it makes sense to restrict some parameters, for example, pass <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa53709cea2e0d6129e99606fe3d27385e">CALIB_SAME_FOCAL_LENGTH</a> and <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa769b5792d4e9c4ae073eaf317aec73ef">CALIB_ZERO_TANGENT_DIST</a> flags, which is usually a reasonable assumption.</p>
<p>Similarly to calibrateCamera, the function minimizes the total re-projection error for all the points in all the available views from both cameras. The function returns the final value of the re-projection error. </p>
</div>
</div>
<a id="ga246253dcc6de2e0376c599e7d692303a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga246253dcc6de2e0376c599e7d692303a">◆ </a></span>stereoCalibrate() <span class="overload">[2/2]</span></h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double cv::stereoCalibrate </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imagePoints1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> </td>
          <td class="paramname"><em>imagePoints2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>cameraMatrix1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>distCoeffs1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>cameraMatrix2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>distCoeffs2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>T</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>E</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>F</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fa51df9c05343c61ddb18324ded0fab86a">CALIB_FIX_INTRINSIC</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> </td>
          <td class="paramname"><em>criteria</em> = <code><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a>(<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57aeb9da694ea67b3ef7d524521b580867d">TermCriteria::COUNT</a>+<a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html#a56fecdc291ccaba8aad27d67ccf72c57a857609e73e7028e638d2ea649f3b45d5">TermCriteria::EPS</a>, 30, 1e-6)</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F</td><td>=</td><td>cv.stereoCalibrate(</td><td class="paramname">objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize[, R[, T[, E[, F[, flags[, criteria]]]]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F, perViewErrors</td><td>=</td><td>cv.stereoCalibrateExtended(</td><td class="paramname">objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize, R, T[, E[, F[, perViewErrors[, flags[, criteria]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
</div>
</div>
<a id="ga617b1685d4059c6040827800e72ad2b6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga617b1685d4059c6040827800e72ad2b6">◆ </a></span>stereoRectify()</h2>
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      <table class="memname">
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          <td class="memname">void cv::stereoRectify </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>T</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>R2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>P1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>P2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>Q</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>flags</em> = <code><a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fae49985db1f4453c5dda1d701a3d8dd76">CALIB_ZERO_DISPARITY</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>alpha</em> = <code>-1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>newImageSize</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> * </td>
          <td class="paramname"><em>validPixROI1</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga11d95de507098e90bad732b9345402e8">Rect</a> * </td>
          <td class="paramname"><em>validPixROI2</em> = <code>0</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>R1, R2, P1, P2, Q, validPixROI1, validPixROI2</td><td>=</td><td>cv.stereoRectify(</td><td class="paramname">cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize, R, T[, R1[, R2[, P1[, P2[, Q[, flags[, alpha[, newImageSize]]]]]]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes rectification transforms for each head of a calibrated stereo camera. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cameraMatrix1</td><td>First camera intrinsic matrix. </td></tr>
    <tr><td class="paramname">distCoeffs1</td><td>First camera distortion parameters. </td></tr>
    <tr><td class="paramname">cameraMatrix2</td><td>Second camera intrinsic matrix. </td></tr>
    <tr><td class="paramname">distCoeffs2</td><td>Second camera distortion parameters. </td></tr>
    <tr><td class="paramname">imageSize</td><td>Size of the image used for stereo calibration. </td></tr>
    <tr><td class="paramname">R</td><td>Rotation matrix from the coordinate system of the first camera to the second camera, see <a class="el" href="../../d9/d0c/group__calib3d.html#ga91018d80e2a93ade37539f01e6f07de5">stereoCalibrate</a>. </td></tr>
    <tr><td class="paramname">T</td><td>Translation vector from the coordinate system of the first camera to the second camera, see <a class="el" href="../../d9/d0c/group__calib3d.html#ga91018d80e2a93ade37539f01e6f07de5">stereoCalibrate</a>. </td></tr>
    <tr><td class="paramname">R1</td><td>Output 3x3 rectification transform (rotation matrix) for the first camera. This matrix brings points given in the unrectified first camera's coordinate system to points in the rectified first camera's coordinate system. In more technical terms, it performs a change of basis from the unrectified first camera's coordinate system to the rectified first camera's coordinate system. </td></tr>
    <tr><td class="paramname">R2</td><td>Output 3x3 rectification transform (rotation matrix) for the second camera. This matrix brings points given in the unrectified second camera's coordinate system to points in the rectified second camera's coordinate system. In more technical terms, it performs a change of basis from the unrectified second camera's coordinate system to the rectified second camera's coordinate system. </td></tr>
    <tr><td class="paramname">P1</td><td>Output 3x4 projection matrix in the new (rectified) coordinate systems for the first camera, i.e. it projects points given in the rectified first camera coordinate system into the rectified first camera's image. </td></tr>
    <tr><td class="paramname">P2</td><td>Output 3x4 projection matrix in the new (rectified) coordinate systems for the second camera, i.e. it projects points given in the rectified first camera coordinate system into the rectified second camera's image. </td></tr>
    <tr><td class="paramname">Q</td><td>Output \(4 \times 4\) disparity-to-depth mapping matrix (see <a class="el" href="../../d9/d0c/group__calib3d.html#ga1bc1152bd57d63bc524204f21fde6e02">reprojectImageTo3D</a>). </td></tr>
    <tr><td class="paramname">flags</td><td>Operation flags that may be zero or <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fae49985db1f4453c5dda1d701a3d8dd76">CALIB_ZERO_DISPARITY</a> . If the flag is set, the function makes the principal points of each camera have the same pixel coordinates in the rectified views. And if the flag is not set, the function may still shift the images in the horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the useful image area. </td></tr>
    <tr><td class="paramname">alpha</td><td>Free scaling parameter. If it is -1 or absent, the function performs the default scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified images are zoomed and shifted so that only valid pixels are visible (no black areas after rectification). alpha=1 means that the rectified image is decimated and shifted so that all the pixels from the original images from the cameras are retained in the rectified images (no source image pixels are lost). Any intermediate value yields an intermediate result between those two extreme cases. </td></tr>
    <tr><td class="paramname">newImageSize</td><td>New image resolution after rectification. The same size should be passed to initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0) is passed (default), it is set to the original imageSize . Setting it to a larger value can help you preserve details in the original image, especially when there is a big radial distortion. </td></tr>
    <tr><td class="paramname">validPixROI1</td><td>Optional output rectangles inside the rectified images where all the pixels are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller (see the picture below). </td></tr>
    <tr><td class="paramname">validPixROI2</td><td>Optional output rectangles inside the rectified images where all the pixels are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller (see the picture below).</td></tr>
  </table>
  </dd>
</dl>
<p>The function computes the rotation matrices for each camera that (virtually) make both camera image planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies the dense stereo correspondence problem. The function takes the matrices computed by stereoCalibrate as input. As output, it provides two rotation matrices and also two projection matrices in the new coordinates. The function distinguishes the following two cases:</p>
<ul>
<li><p class="startli"><b>Horizontal stereo</b>: the first and the second camera views are shifted relative to each other mainly along the x-axis (with possible small vertical shift). In the rectified images, the corresponding epipolar lines in the left and right cameras are horizontal and have the same y-coordinate. P1 and P2 look like:</p>
<p class="formulaDsp">
\[\texttt{P1} = \begin{bmatrix} f &amp; 0 &amp; cx_1 &amp; 0 \\ 0 &amp; f &amp; cy &amp; 0 \\ 0 &amp; 0 &amp; 1 &amp; 0 \end{bmatrix}\]
</p>
<p class="formulaDsp">
\[\texttt{P2} = \begin{bmatrix} f &amp; 0 &amp; cx_2 &amp; T_x*f \\ 0 &amp; f &amp; cy &amp; 0 \\ 0 &amp; 0 &amp; 1 &amp; 0 \end{bmatrix} ,\]
</p>
<p class="startli">where \(T_x\) is a horizontal shift between the cameras and \(cx_1=cx_2\) if <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fae49985db1f4453c5dda1d701a3d8dd76">CALIB_ZERO_DISPARITY</a> is set.</p>
</li>
<li><p class="startli"><b>Vertical stereo</b>: the first and the second camera views are shifted relative to each other mainly in the vertical direction (and probably a bit in the horizontal direction too). The epipolar lines in the rectified images are vertical and have the same x-coordinate. P1 and P2 look like:</p>
<p class="formulaDsp">
\[\texttt{P1} = \begin{bmatrix} f &amp; 0 &amp; cx &amp; 0 \\ 0 &amp; f &amp; cy_1 &amp; 0 \\ 0 &amp; 0 &amp; 1 &amp; 0 \end{bmatrix}\]
</p>
<p class="formulaDsp">
\[\texttt{P2} = \begin{bmatrix} f &amp; 0 &amp; cx &amp; 0 \\ 0 &amp; f &amp; cy_2 &amp; T_y*f \\ 0 &amp; 0 &amp; 1 &amp; 0 \end{bmatrix},\]
</p>
<p class="startli">where \(T_y\) is a vertical shift between the cameras and \(cy_1=cy_2\) if <a class="el" href="../../d9/d0c/group__calib3d.html#gga11738a219783c6dc7fdeb093a4a87c0fae49985db1f4453c5dda1d701a3d8dd76">CALIB_ZERO_DISPARITY</a> is set.</p>
</li>
</ul>
<p>As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera matrices. The matrices, together with R1 and R2 , can then be passed to initUndistortRectifyMap to initialize the rectification map for each camera.</p>
<p>See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through the corresponding image regions. This means that the images are well rectified, which is what most stereo correspondence algorithms rely on. The green rectangles are roi1 and roi2 . You see that their interiors are all valid pixels.</p>
<div class="image">
<img alt="stereo_undistort.jpg" src="../../stereo_undistort.jpg"/>
<div class="caption">
image</div></div>
</div>
</div>
<a id="gaadc5b14471ddc004939471339294f052"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gaadc5b14471ddc004939471339294f052">◆ </a></span>stereoRectifyUncalibrated()</h2>
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      <table class="memname">
        <tr>
          <td class="memname">bool cv::stereoRectifyUncalibrated </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>F</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>imgSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>H1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>H2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>threshold</em> = <code>5</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, H1, H2</td><td>=</td><td>cv.stereoRectifyUncalibrated(</td><td class="paramname">points1, points2, F, imgSize[, H1[, H2[, threshold]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes a rectification transform for an uncalibrated stereo camera. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points1</td><td>Array of feature points in the first image. </td></tr>
    <tr><td class="paramname">points2</td><td>The corresponding points in the second image. The same formats as in findFundamentalMat are supported. </td></tr>
    <tr><td class="paramname">F</td><td>Input fundamental matrix. It can be computed from the same set of point pairs using findFundamentalMat . </td></tr>
    <tr><td class="paramname">imgSize</td><td>Size of the image. </td></tr>
    <tr><td class="paramname">H1</td><td>Output rectification homography matrix for the first image. </td></tr>
    <tr><td class="paramname">H2</td><td>Output rectification homography matrix for the second image. </td></tr>
    <tr><td class="paramname">threshold</td><td>Optional threshold used to filter out the outliers. If the parameter is greater than zero, all the point pairs that do not comply with the epipolar geometry (that is, the points for which \(|\texttt{points2[i]}^T*\texttt{F}*\texttt{points1[i]}|&gt;\texttt{threshold}\) ) are rejected prior to computing the homographies. Otherwise, all the points are considered inliers.</td></tr>
  </table>
  </dd>
</dl>
<p>The function computes the rectification transformations without knowing intrinsic parameters of the cameras and their relative position in the space, which explains the suffix "uncalibrated". Another related difference from stereoRectify is that the function outputs not the rectification transformations in the object (3D) space, but the planar perspective transformations encoded by the homography matrices H1 and H2 . The function implements the algorithm <a class="el" href="../../d0/de3/citelist.html#CITEREF_Hartley99">[104]</a> .</p>
<dl class="section note"><dt>Note</dt><dd>While the algorithm does not need to know the intrinsic parameters of the cameras, it heavily depends on the epipolar geometry. Therefore, if the camera lenses have a significant distortion, it would be better to correct it before computing the fundamental matrix and calling this function. For example, distortion coefficients can be estimated for each head of stereo camera separately by using calibrateCamera . Then, the images can be corrected using undistort , or just the point coordinates can be corrected with undistortPoints . </dd></dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#gad3fc9a0c82b08df034234979960b778c">◆ </a></span>triangulatePoints()</h2>
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          <td class="memname">void cv::triangulatePoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>projMatr1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>projMatr2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>projPoints1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>projPoints2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>points4D</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>points4D</td><td>=</td><td>cv.triangulatePoints(</td><td class="paramname">projMatr1, projMatr2, projPoints1, projPoints2[, points4D]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This function reconstructs 3-dimensional points (in homogeneous coordinates) by using their observations with a stereo camera. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">projMatr1</td><td>3x4 projection matrix of the first camera, i.e. this matrix projects 3D points given in the world's coordinate system into the first image. </td></tr>
    <tr><td class="paramname">projMatr2</td><td>3x4 projection matrix of the second camera, i.e. this matrix projects 3D points given in the world's coordinate system into the second image. </td></tr>
    <tr><td class="paramname">projPoints1</td><td>2xN array of feature points in the first image. In the case of the c++ version, it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1. </td></tr>
    <tr><td class="paramname">projPoints2</td><td>2xN array of corresponding points in the second image. In the case of the c++ version, it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1. </td></tr>
    <tr><td class="paramname">points4D</td><td>4xN array of reconstructed points in homogeneous coordinates. These points are returned in the world's coordinate system.</td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>Keep in mind that all input data should be of float type in order for this function to work.</dd>
<dd>
If the projection matrices from <a class="el" href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6">stereoRectify</a> are used, then the returned points are represented in the first camera's rectified coordinate system.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d0c/group__calib3d.html#ga1bc1152bd57d63bc524204f21fde6e02" title="Reprojects a disparity image to 3D space. ">reprojectImageTo3D</a> </dd></dl>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga69f2545a8b62a6b0fc2ee060dc30559d">◆ </a></span>undistort()</h2>
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          <td class="memname">void cv::undistort </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dst</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>newCameraMatrix</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>dst</td><td>=</td><td>cv.undistort(</td><td class="paramname">src, cameraMatrix, distCoeffs[, dst[, newCameraMatrix]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Transforms an image to compensate for lens distortion. </p>
<p>The function transforms an image to compensate radial and tangential lens distortion.</p>
<p>The function is simply a combination of <a class="el" href="../../d9/d0c/group__calib3d.html#ga7dfb72c9cf9780a347fbe3d1c47e5d5a" title="Computes the undistortion and rectification transformation map. ">initUndistortRectifyMap</a> (with unity R ) and <a class="el" href="../../da/d54/group__imgproc__transform.html#gab75ef31ce5cdfb5c44b6da5f3b908ea4" title="Applies a generic geometrical transformation to an image. ">remap</a> (with bilinear interpolation). See the former function for details of the transformation being performed.</p>
<p>Those pixels in the destination image, for which there is no correspondent pixels in the source image, are filled with zeros (black color).</p>
<p>A particular subset of the source image that will be visible in the corrected image can be regulated by newCameraMatrix. You can use <a class="el" href="../../d9/d0c/group__calib3d.html#ga7a6c4e032c97f03ba747966e6ad862b1" title="Returns the new camera intrinsic matrix based on the free scaling parameter. ">getOptimalNewCameraMatrix</a> to compute the appropriate newCameraMatrix depending on your requirements.</p>
<p>The camera matrix and the distortion parameters can be determined using <a class="el" href="../../d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d" title="Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern...">calibrateCamera</a>. If the resolution of images is different from the resolution used at the calibration stage, \(f_x, f_y, c_x\) and \(c_y\) need to be scaled accordingly, while the distortion coefficients remain the same.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>Input (distorted) image. </td></tr>
    <tr><td class="paramname">dst</td><td>Output (corrected) image that has the same size and type as src . </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Input camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">newCameraMatrix</td><td>Camera matrix of the distorted image. By default, it is the same as cameraMatrix but you may additionally scale and shift the result by using a different matrix. </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ga55c716492470bfe86b0ee9bf3a1f0f7e">◆ </a></span>undistortPoints() <span class="overload">[1/2]</span></h2>
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<div class="memproto">
      <table class="memname">
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          <td class="memname">void cv::undistortPoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dst</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>R</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>P</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>dst</td><td>=</td><td>cv.undistortPoints(</td><td class="paramname">src, cameraMatrix, distCoeffs[, dst[, R[, P]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>dst</td><td>=</td><td>cv.undistortPointsIter(</td><td class="paramname">src, cameraMatrix, distCoeffs, R, P, criteria[, dst]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>Computes the ideal point coordinates from the observed point coordinates. </p>
<p>The function is similar to <a class="el" href="../../d9/d0c/group__calib3d.html#ga69f2545a8b62a6b0fc2ee060dc30559d" title="Transforms an image to compensate for lens distortion. ">undistort</a> and <a class="el" href="../../d9/d0c/group__calib3d.html#ga7dfb72c9cf9780a347fbe3d1c47e5d5a" title="Computes the undistortion and rectification transformation map. ">initUndistortRectifyMap</a> but it operates on a sparse set of points instead of a raster image. Also the function performs a reverse transformation to projectPoints. In case of a 3D object, it does not reconstruct its 3D coordinates, but for a planar object, it does, up to a translation vector, if the proper R is specified.</p>
<p>For each observed point coordinate \((u, v)\) the function computes: </p><p class="formulaDsp">
\[ \begin{array}{l} x^{"} \leftarrow (u - c_x)/f_x \\ y^{"} \leftarrow (v - c_y)/f_y \\ (x',y') = undistort(x^{"},y^{"}, \texttt{distCoeffs}) \\ {[X\,Y\,W]} ^T \leftarrow R*[x' \, y' \, 1]^T \\ x \leftarrow X/W \\ y \leftarrow Y/W \\ \text{only performed if P is specified:} \\ u' \leftarrow x {f'}_x + {c'}_x \\ v' \leftarrow y {f'}_y + {c'}_y \end{array} \]
</p>
<p>where <em>undistort</em> is an approximate iterative algorithm that estimates the normalized original point coordinates out of the normalized distorted point coordinates ("normalized" means that the coordinates do not depend on the camera matrix).</p>
<p>The function can be used for both a stereo camera head or a monocular camera (when R is empty). </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>Observed point coordinates, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or CV_64FC2) (or vector&lt;Point2f&gt; ). </td></tr>
    <tr><td class="paramname">dst</td><td>Output ideal point coordinates (1xN/Nx1 2-channel or vector&lt;Point2f&gt; ) after undistortion and reverse perspective transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates. </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Camera matrix \(\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . </td></tr>
    <tr><td class="paramname">distCoeffs</td><td>Input vector of distortion coefficients \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed. </td></tr>
    <tr><td class="paramname">R</td><td>Rectification transformation in the object space (3x3 matrix). R1 or R2 computed by <a class="el" href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6" title="Computes rectification transforms for each head of a calibrated stereo camera. ">stereoRectify</a> can be passed here. If the matrix is empty, the identity transformation is used. </td></tr>
    <tr><td class="paramname">P</td><td>New camera matrix (3x3) or new projection matrix (3x4) \(\begin{bmatrix} {f'}_x &amp; 0 &amp; {c'}_x &amp; t_x \\ 0 &amp; {f'}_y &amp; {c'}_y &amp; t_y \\ 0 &amp; 0 &amp; 1 &amp; t_z \end{bmatrix}\). P1 or P2 computed by <a class="el" href="../../d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6" title="Computes rectification transforms for each head of a calibrated stereo camera. ">stereoRectify</a> can be passed here. If the matrix is empty, the identity new camera matrix is used. </td></tr>
  </table>
  </dd>
</dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="../../d0/d92/samples_2cpp_2tutorial_code_2features2D_2Homography_2pose_from_homography_8cpp-example.html#a15">samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp</a>.</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ga887960ea1bde84784e7f1710a922b93c">◆ </a></span>undistortPoints() <span class="overload">[2/2]</span></h2>
<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname">void cv::undistortPoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>dst</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>distCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>P</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d5d/classcv_1_1TermCriteria.html">TermCriteria</a> </td>
          <td class="paramname"><em>criteria</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>dst</td><td>=</td><td>cv.undistortPoints(</td><td class="paramname">src, cameraMatrix, distCoeffs[, dst[, R[, P]]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>dst</td><td>=</td><td>cv.undistortPointsIter(</td><td class="paramname">src, cameraMatrix, distCoeffs, R, P, criteria[, dst]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p><dl class="section note"><dt>Note</dt><dd>Default version of <a class="el" href="../../d9/d0c/group__calib3d.html#ga55c716492470bfe86b0ee9bf3a1f0f7e" title="Computes the ideal point coordinates from the observed point coordinates. ">undistortPoints</a> does 5 iterations to compute undistorted points. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ga214b498b8d01d0417e0d08be64c54eb5">◆ </a></span>validateDisparity()</h2>
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          <td class="memname">void cv::validateDisparity </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>disparity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>cost</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>minDisparity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>numberOfDisparities</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>disp12MaxDisp</em> = <code>1</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>disparity</td><td>=</td><td>cv.validateDisparity(</td><td class="paramname">disparity, cost, minDisparity, numberOfDisparities[, disp12MaxDisp]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d2/d28/calib3d_8hpp.html">opencv2/calib3d.hpp</a>&gt;</code></p>
<p>validates disparity using the left-right check. The matrix "cost" should be computed by the stereo correspondence algorithm </p>
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